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index 2cad65fdb602c02a62150a5a5dbd46e00f255b14..6ef7aa315f98794b50c58084df42a3c5b0b88c08 100644
--- a/processed/gigahand/ability/bimanual/complete_data.csv
+++ b/processed/gigahand/ability/bimanual/complete_data.csv
@@ -1,4 +1,16 @@
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+robot_type: ability
+embodiment_type: bimanual
+task: p36-tea
+seed: 3
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 3
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/3/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/3/trajectory_kinematic.npz
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+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/4/../scene.xml
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diff --git a/processed/gigahand/ability/bimanual/p36-tea/scene.xml b/processed/gigahand/ability/bimanual/p36-tea/scene.xml
index dec273852af4cd4fe3ce84c03fa0578c63912f3c..7c87f43ff866bc4d7c74df8c0c1dd261c26be171 100644
--- a/processed/gigahand/ability/bimanual/p36-tea/scene.xml
+++ b/processed/gigahand/ability/bimanual/p36-tea/scene.xml
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-    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
+    <default class="right_base">
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+    <default class="left_base">
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@@ -40,12 +46,20 @@
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     <mesh name="right_0" file="objects/p36-tea/convex/0.obj"/>
     <mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
+    <mesh name="right_10" file="objects/p36-tea/convex/10.obj"/>
+    <mesh name="right_11" file="objects/p36-tea/convex/11.obj"/>
+    <mesh name="right_12" file="objects/p36-tea/convex/12.obj"/>
+    <mesh name="right_13" file="objects/p36-tea/convex/13.obj"/>
+    <mesh name="right_14" file="objects/p36-tea/convex/14.obj"/>
+    <mesh name="right_15" file="objects/p36-tea/convex/15.obj"/>
     <mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
     <mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
     <mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
     <mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
     <mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
     <mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
+    <mesh name="right_8" file="objects/p36-tea/convex/8.obj"/>
+    <mesh name="right_9" file="objects/p36-tea/convex/9.obj"/>
     <mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
   </asset>
 
@@ -89,10 +103,10 @@
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-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.059 0.025 0"/>
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+                    <site name="trace_hand_right_thumb_tip" pos="0.059 0.025 0"/>
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@@ -112,9 +126,9 @@
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-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0"/>
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@@ -134,9 +148,9 @@
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-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
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+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
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@@ -156,9 +170,9 @@
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-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
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+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
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@@ -178,9 +192,9 @@
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-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
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+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
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@@ -225,10 +239,10 @@
                     <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
-                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -248,9 +262,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -270,9 +284,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -292,9 +306,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -314,9 +328,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -327,27 +341,35 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_15"/>
+      <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="0.0018825 0.0818593 -0.0269382" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="-0.0291577 0.0792714 0.0057566" 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"/>
-      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00187915 0.081854 -0.0269697" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0291784 0.0791531 0.00562098" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" size="0.01" 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"/>
@@ -383,7 +405,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -420,12 +442,20 @@
   <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_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" 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"/>
@@ -455,6 +485,24 @@
     <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_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_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_1" geom2="right_object_10" name="collision_hand_right_palm_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_10" name="collision_hand_right_palm_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_11" name="collision_hand_right_palm_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_11" name="collision_hand_right_palm_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_12" name="collision_hand_right_palm_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_12" name="collision_hand_right_palm_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_13" name="collision_hand_right_palm_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_13" name="collision_hand_right_palm_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_14" name="collision_hand_right_palm_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_14" name="collision_hand_right_palm_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_15" name="collision_hand_right_palm_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_15" name="collision_hand_right_palm_2_right_object_15" 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_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
@@ -473,6 +521,12 @@
     <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_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_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_1" geom2="right_object_8" name="collision_hand_right_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_8" name="collision_hand_right_palm_2_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_palm_1" geom2="right_object_9" name="collision_hand_right_palm_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_9" name="collision_hand_right_palm_2_right_object_9" 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"/>
@@ -491,12 +545,20 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -505,12 +567,20 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" 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_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_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_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_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_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_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_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="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"/>
@@ -528,12 +598,20 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -542,12 +620,20 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -564,12 +650,20 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -578,12 +672,20 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
@@ -599,12 +701,20 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -613,12 +723,20 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -633,12 +751,20 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" 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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -650,6 +776,24 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_10" name="collision_hand_left_palm_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_10" name="collision_hand_left_palm_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_11" name="collision_hand_left_palm_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_11" name="collision_hand_left_palm_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_12" name="collision_hand_left_palm_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_12" name="collision_hand_left_palm_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_13" name="collision_hand_left_palm_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_13" name="collision_hand_left_palm_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_14" name="collision_hand_left_palm_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_14" name="collision_hand_left_palm_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_15" name="collision_hand_left_palm_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_15" name="collision_hand_left_palm_2_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
@@ -668,10 +812,28 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_8" name="collision_hand_left_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_8" name="collision_hand_left_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_9" name="collision_hand_left_palm_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_9" name="collision_hand_left_palm_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_10" name="collision_hand_left_thumb_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_11" name="collision_hand_left_thumb_3_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_12" name="collision_hand_left_thumb_3_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_13" name="collision_hand_left_thumb_3_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_14" name="collision_hand_left_thumb_3_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_15" name="collision_hand_left_thumb_3_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
@@ -684,6 +846,10 @@
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_8" name="collision_hand_left_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_9" name="collision_hand_left_thumb_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -692,6 +858,18 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
@@ -704,6 +882,10 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -716,6 +898,42 @@
     <pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_10" name="collision_hand_left_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_10" name="collision_hand_left_index_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_10" name="collision_hand_left_index_4_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_10" name="collision_hand_left_index_5_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_10" name="collision_hand_left_index_6_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_11" name="collision_hand_left_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_11" name="collision_hand_left_index_3_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_11" name="collision_hand_left_index_4_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_11" name="collision_hand_left_index_5_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_11" name="collision_hand_left_index_6_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_12" name="collision_hand_left_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_12" name="collision_hand_left_index_3_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_12" name="collision_hand_left_index_4_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_12" name="collision_hand_left_index_5_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_12" name="collision_hand_left_index_6_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_13" name="collision_hand_left_index_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_13" name="collision_hand_left_index_3_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_13" name="collision_hand_left_index_4_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_13" name="collision_hand_left_index_5_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_13" name="collision_hand_left_index_6_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_14" name="collision_hand_left_index_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_14" name="collision_hand_left_index_3_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_14" name="collision_hand_left_index_4_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_14" name="collision_hand_left_index_5_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_14" name="collision_hand_left_index_6_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_15" name="collision_hand_left_index_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_15" name="collision_hand_left_index_3_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_15" name="collision_hand_left_index_4_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_15" name="collision_hand_left_index_5_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_15" name="collision_hand_left_index_6_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_15" name="collision_hand_left_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -752,77 +970,145 @@
     <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_8" name="collision_hand_left_index_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_8" name="collision_hand_left_index_4_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_8" name="collision_hand_left_index_5_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_8" name="collision_hand_left_index_6_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_9" name="collision_hand_left_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_9" name="collision_hand_left_index_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_9" name="collision_hand_left_index_4_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_9" name="collision_hand_left_index_5_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_9" name="collision_hand_left_index_6_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
   </contact>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -833,12 +1119,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/gigahand/ability/bimanual/p36-tea/scene_eq.xml b/processed/gigahand/ability/bimanual/p36-tea/scene_eq.xml
index 7853ab09da3e84d47e39fbcfee5fba0160d5890a..d13a94ba13ebd4d9626284a4aae1440ef37009ec 100644
--- a/processed/gigahand/ability/bimanual/p36-tea/scene_eq.xml
+++ b/processed/gigahand/ability/bimanual/p36-tea/scene_eq.xml
@@ -4,13 +4,19 @@
   <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"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
+    <default class="right_base">
+      <general gainprm="1000" biasprm="0 -1000"/>
+    </default>
+    <default class="left_base">
+      <general gainprm="1000" biasprm="0 -1000"/>
+    </default>
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -40,12 +46,20 @@
     <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
     <mesh name="right_0" file="objects/p36-tea/convex/0.obj"/>
     <mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
+    <mesh name="right_10" file="objects/p36-tea/convex/10.obj"/>
+    <mesh name="right_11" file="objects/p36-tea/convex/11.obj"/>
+    <mesh name="right_12" file="objects/p36-tea/convex/12.obj"/>
+    <mesh name="right_13" file="objects/p36-tea/convex/13.obj"/>
+    <mesh name="right_14" file="objects/p36-tea/convex/14.obj"/>
+    <mesh name="right_15" file="objects/p36-tea/convex/15.obj"/>
     <mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
     <mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
     <mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
     <mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
     <mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
     <mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
+    <mesh name="right_8" file="objects/p36-tea/convex/8.obj"/>
+    <mesh name="right_9" file="objects/p36-tea/convex/9.obj"/>
     <mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
   </asset>
 
@@ -89,10 +103,10 @@
                     <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
                     <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
-                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
@@ -112,9 +126,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
@@ -134,9 +148,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
@@ -156,9 +170,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
@@ -178,9 +192,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -225,10 +239,10 @@
                     <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
-                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -248,9 +262,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -270,9 +284,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -292,9 +306,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -314,9 +328,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -327,27 +341,35 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_15"/>
+      <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="0.0018825 0.0818593 -0.0269382" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="-0.0291577 0.0792714 0.0057566" 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"/>
-      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00187915 0.081854 -0.0269697" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0291784 0.0791531 0.00562098" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" size="0.01" 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"/>
@@ -383,7 +405,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -420,12 +442,20 @@
   <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_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" 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"/>
@@ -455,6 +485,24 @@
     <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_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_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_1" geom2="right_object_10" name="collision_hand_right_palm_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_10" name="collision_hand_right_palm_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_11" name="collision_hand_right_palm_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_11" name="collision_hand_right_palm_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_12" name="collision_hand_right_palm_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_12" name="collision_hand_right_palm_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_13" name="collision_hand_right_palm_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_13" name="collision_hand_right_palm_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_14" name="collision_hand_right_palm_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_14" name="collision_hand_right_palm_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_15" name="collision_hand_right_palm_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_15" name="collision_hand_right_palm_2_right_object_15" 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_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
@@ -473,6 +521,12 @@
     <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_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_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_1" geom2="right_object_8" name="collision_hand_right_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_8" name="collision_hand_right_palm_2_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_palm_1" geom2="right_object_9" name="collision_hand_right_palm_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_9" name="collision_hand_right_palm_2_right_object_9" 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"/>
@@ -491,12 +545,20 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -505,12 +567,20 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" 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_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_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_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_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_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_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_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="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"/>
@@ -528,12 +598,20 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -542,12 +620,20 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -564,12 +650,20 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -578,12 +672,20 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
@@ -599,12 +701,20 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -613,12 +723,20 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -633,12 +751,20 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" 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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -650,6 +776,24 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_10" name="collision_hand_left_palm_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_10" name="collision_hand_left_palm_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_11" name="collision_hand_left_palm_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_11" name="collision_hand_left_palm_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_12" name="collision_hand_left_palm_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_12" name="collision_hand_left_palm_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_13" name="collision_hand_left_palm_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_13" name="collision_hand_left_palm_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_14" name="collision_hand_left_palm_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_14" name="collision_hand_left_palm_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_15" name="collision_hand_left_palm_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_15" name="collision_hand_left_palm_2_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
@@ -668,10 +812,28 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_8" name="collision_hand_left_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_8" name="collision_hand_left_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_9" name="collision_hand_left_palm_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_9" name="collision_hand_left_palm_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_10" name="collision_hand_left_thumb_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_11" name="collision_hand_left_thumb_3_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_12" name="collision_hand_left_thumb_3_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_13" name="collision_hand_left_thumb_3_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_14" name="collision_hand_left_thumb_3_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_15" name="collision_hand_left_thumb_3_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
@@ -684,6 +846,10 @@
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_8" name="collision_hand_left_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_9" name="collision_hand_left_thumb_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -692,6 +858,18 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
@@ -704,6 +882,10 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -716,6 +898,42 @@
     <pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_10" name="collision_hand_left_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_10" name="collision_hand_left_index_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_10" name="collision_hand_left_index_4_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_10" name="collision_hand_left_index_5_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_10" name="collision_hand_left_index_6_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_11" name="collision_hand_left_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_11" name="collision_hand_left_index_3_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_11" name="collision_hand_left_index_4_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_11" name="collision_hand_left_index_5_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_11" name="collision_hand_left_index_6_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_12" name="collision_hand_left_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_12" name="collision_hand_left_index_3_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_12" name="collision_hand_left_index_4_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_12" name="collision_hand_left_index_5_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_12" name="collision_hand_left_index_6_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_13" name="collision_hand_left_index_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_13" name="collision_hand_left_index_3_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_13" name="collision_hand_left_index_4_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_13" name="collision_hand_left_index_5_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_13" name="collision_hand_left_index_6_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_14" name="collision_hand_left_index_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_14" name="collision_hand_left_index_3_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_14" name="collision_hand_left_index_4_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_14" name="collision_hand_left_index_5_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_14" name="collision_hand_left_index_6_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_15" name="collision_hand_left_index_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_15" name="collision_hand_left_index_3_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_15" name="collision_hand_left_index_4_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_15" name="collision_hand_left_index_5_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_15" name="collision_hand_left_index_6_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_15" name="collision_hand_left_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -752,68 +970,136 @@
     <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_8" name="collision_hand_left_index_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_8" name="collision_hand_left_index_4_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_8" name="collision_hand_left_index_5_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_8" name="collision_hand_left_index_6_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_9" name="collision_hand_left_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_9" name="collision_hand_left_index_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_9" name="collision_hand_left_index_4_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_9" name="collision_hand_left_index_5_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_9" name="collision_hand_left_index_6_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
   </contact>
 
   <equality>
@@ -840,12 +1126,12 @@
   </equality>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -856,12 +1142,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/gigahand/ability/bimanual/p44-dog/0/config.yaml b/processed/gigahand/ability/bimanual/p44-dog/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ecef3187ed67f6085909d97b9cd91b8dcb506b32
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p44-dog/0/config.yaml
@@ -0,0 +1,91 @@
+robot_type: ability
+embodiment_type: bimanual
+task: p44-dog
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/0/../scene.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/0/trajectory_kinematic.npz
+simulator: mjwp
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+nconmax_per_env: 100
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+num_dyn: 1
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+pair_margin_range:
+- -0.005
+- 0.005
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+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/0
diff --git a/processed/gigahand/ability/bimanual/p44-dog/0/trajectory_ikrollout.npz b/processed/gigahand/ability/bimanual/p44-dog/0/trajectory_ikrollout.npz
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--- /dev/null
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index 0000000000000000000000000000000000000000..0d70e4020a810e591d271386fbe99ec888c49196
--- /dev/null
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@@ -0,0 +1,92 @@
+robot_type: ability
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+task: p44-dog
+seed: 1
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 1
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/1/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/1/trajectory_kinematic.npz
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diff --git a/processed/gigahand/ability/bimanual/p44-dog/1/trajectory_kinematic.npz b/processed/gigahand/ability/bimanual/p44-dog/1/trajectory_kinematic.npz
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diff --git a/processed/gigahand/ability/bimanual/p44-dog/2/config.yaml b/processed/gigahand/ability/bimanual/p44-dog/2/config.yaml
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index 0000000000000000000000000000000000000000..93ea060b2dedcca064517f415d697878df43a81a
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p44-dog/2/config.yaml
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+robot_type: ability
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               </body>
@@ -225,10 +231,10 @@
                     <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
-                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -248,9 +254,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -270,9 +276,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -292,9 +298,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -314,9 +320,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -327,27 +333,27 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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="0.488538 0.502738 0.226069" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" size="0.01" 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"/>
@@ -383,7 +389,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -817,12 +823,12 @@
   </contact>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -833,12 +839,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/gigahand/ability/bimanual/p44-dog/scene_eq.xml b/processed/gigahand/ability/bimanual/p44-dog/scene_eq.xml
index 2aa5cb3f024e505cb7acb68eb4dfdeed22ad5cf1..18b5c3664c3ebf3121237ae2b4f82b00d7d04282 100644
--- a/processed/gigahand/ability/bimanual/p44-dog/scene_eq.xml
+++ b/processed/gigahand/ability/bimanual/p44-dog/scene_eq.xml
@@ -4,13 +4,19 @@
   <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"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
+    <default class="right_base">
+      <general gainprm="1000" biasprm="0 -1000"/>
+    </default>
+    <default class="left_base">
+      <general gainprm="1000" biasprm="0 -1000"/>
+    </default>
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -89,10 +95,10 @@
                     <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
                     <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
-                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
@@ -112,9 +118,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
@@ -134,9 +140,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
@@ -156,9 +162,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
@@ -178,9 +184,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -225,10 +231,10 @@
                     <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
-                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -248,9 +254,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -270,9 +276,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -292,9 +298,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -314,9 +320,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -327,27 +333,27 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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="0.488538 0.502738 0.226069" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" size="0.01" 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"/>
@@ -383,7 +389,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -840,12 +846,12 @@
   </equality>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -856,12 +862,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/0/config.yaml b/processed/gigahand/ability/bimanual/p52-instrument/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2c4a152f1e4eeb26caf56e309c44ee57935fb4b7
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p52-instrument/0/config.yaml
@@ -0,0 +1,91 @@
+robot_type: ability
+embodiment_type: bimanual
+task: p52-instrument
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/ability/bimanual/p52-instrument/0/../scene.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/ability/bimanual/p52-instrument/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 1.6
+knot_dt: 0.4
+max_sim_steps: 258
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 1
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.03
+rot_noise_scale: 0.01
+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: mujoco-rerun
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 55
+- 3
+- 6
+- 9
+- 12
+- 15
+- 19
+- 22
+- 25
+- 28
+- 31
+horizon_steps: 160
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 46
+nv: 44
+nu: 32
+npair: 330
+beta_traj: 0.930572040929699
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/ability/bimanual/p52-instrument/0
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/0/trajectory_ikrollout.npz b/processed/gigahand/ability/bimanual/p52-instrument/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cf945468910dd19ac4693a356c30bca9f4121147
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p52-instrument/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e37f3f9637dd4a626f8a5ed4d8115bcf748ad0d163fe766ce31073b98360617
+size 47734
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/0/trajectory_kinematic.npz b/processed/gigahand/ability/bimanual/p52-instrument/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..86c30b577eea0afed0adb94aec0dade11d7a4389
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p52-instrument/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9555fda2014e15489d9f010a115df43fa8c3cb49987fc412645d2a5c00fa2d61
+size 225708
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/0/trajectory_mjwp.npz b/processed/gigahand/ability/bimanual/p52-instrument/0/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dd13bcefd935aeceef8173aa51743920334ba973
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p52-instrument/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42314f061c84f265ff66aedefe9d1f5ba5afa44992a7688d88756a89a16a2e78
+size 301014
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/0/visualization_ik.mp4 b/processed/gigahand/ability/bimanual/p52-instrument/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50904f695b2c42d403fdae1d5d8e44abafe9e176
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p52-instrument/0/visualization_ik.mp4
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diff --git a/processed/gigahand/ability/bimanual/p52-instrument/4/trajectory_mjwp.npz b/processed/gigahand/ability/bimanual/p52-instrument/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ad8d548714feb2e6e953b1dbcedcae874175b599
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p52-instrument/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d848bdd495cbac750a9b70d5e13ca0e04e71e69d1edabc741c8c134279ce107
+size 301014
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/4/visualization_mjwp.mp4 b/processed/gigahand/ability/bimanual/p52-instrument/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..515df6f4c9738e12b475a635c6272b5aa4a22d3f
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p52-instrument/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e04c1a56ed869253b301e825aaa43a4b3a3df87900562aa23118f9ef9af0f36
+size 774639
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/scene.xml b/processed/gigahand/ability/bimanual/p52-instrument/scene.xml
index 98f21e3ddc18bc244eb641200c18b21c13e82b09..12347fe6e5a1a13be3cf723c4a6e9b72f43c4f23 100644
--- a/processed/gigahand/ability/bimanual/p52-instrument/scene.xml
+++ b/processed/gigahand/ability/bimanual/p52-instrument/scene.xml
@@ -4,13 +4,19 @@
   <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"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
+    <default class="right_base">
+      <general gainprm="1000" biasprm="0 -1000"/>
+    </default>
+    <default class="left_base">
+      <general gainprm="1000" biasprm="0 -1000"/>
+    </default>
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -87,10 +93,10 @@
                     <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
                     <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
-                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
@@ -110,9 +116,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
@@ -132,9 +138,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
@@ -154,9 +160,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
@@ -176,9 +182,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -223,10 +229,10 @@
                     <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
-                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -246,9 +252,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -268,9 +274,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -290,9 +296,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -312,9 +318,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -325,25 +331,25 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <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_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="0.51175 0.464024 0.2359" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0.44699 0.429017 0.273535" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0.726217 0.517055 0.251473" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.51175 0.464024 0.2359" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.44699 0.429017 0.273535" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.726217 0.517055 0.251473" size="0.01" 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"/>
@@ -379,7 +385,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -747,12 +753,12 @@
   </contact>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -763,12 +769,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/scene_eq.xml b/processed/gigahand/ability/bimanual/p52-instrument/scene_eq.xml
index b074f23ac14c9433a63f7eeb1320716dfa6a7fbc..76e6b7c144760025a0421b26352f7bfa711c694f 100644
--- a/processed/gigahand/ability/bimanual/p52-instrument/scene_eq.xml
+++ b/processed/gigahand/ability/bimanual/p52-instrument/scene_eq.xml
@@ -4,13 +4,19 @@
   <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"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
+    <default class="right_base">
+      <general gainprm="1000" biasprm="0 -1000"/>
+    </default>
+    <default class="left_base">
+      <general gainprm="1000" biasprm="0 -1000"/>
+    </default>
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -87,10 +93,10 @@
                     <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
                     <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
-                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
@@ -110,9 +116,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
@@ -132,9 +138,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
@@ -154,9 +160,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
@@ -176,9 +182,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -223,10 +229,10 @@
                     <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
-                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -246,9 +252,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -268,9 +274,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -290,9 +296,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -312,9 +318,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -325,25 +331,25 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <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_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="0.51175 0.464024 0.2359" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0.44699 0.429017 0.273535" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0.726217 0.517055 0.251473" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.51175 0.464024 0.2359" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.44699 0.429017 0.273535" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.726217 0.517055 0.251473" size="0.01" 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"/>
@@ -379,7 +385,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -770,12 +776,12 @@
   </equality>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -786,12 +792,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/gigahand/ability/bimanual/summary.csv b/processed/gigahand/ability/bimanual/summary.csv
index d443031f5a065c5fe206045a201d5d5fc5329573..7397a6fa534b065e9dc494edb8e4e28dded9e755 100644
--- a/processed/gigahand/ability/bimanual/summary.csv
+++ b/processed/gigahand/ability/bimanual/summary.csv
@@ -1,4 +1,31 @@
-task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,data_type,pos_err_threshold,quat_err_threshold,timestamp,data_id,obj_pos_err,obj_quat_err,success
-p44-dog,1,1,1.0,0.04578450576266401,0.0,0.0751088291255147,0.0,gigahand,ability,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,4.0,0.04578450576266401,0.0751088291255147,True
-p52-instrument,1,0,0.0,0.14911797400679308,0.0,0.41723096282674027,0.0,gigahand,ability,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,34.0,0.14911797400679308,0.41723096282674027,False
-p36-tea,1,0,0.0,0.13623398469593997,0.0,0.7485452346147734,0.0,gigahand,ability,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,10.0,0.13623398469593997,0.7485452346147734,False
+dataset,robot_type,embodiment_type,data_type,task,data_id,obj_pos_err,obj_quat_err,success,pos_err_threshold,quat_err_threshold,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,timestamp
+gigahand,ability,bimanual,mjwp,p52-instrument,3,0.1122948935384093,0.5714313796434585,False,0.1,0.6,1,0,0.0,0.1122948935384093,0.0,0.5714313796434585,0.0,2026-01-27 17:28:55
+gigahand,ability,bimanual,mjwp,p52-instrument,4,0.1052912821543027,0.5650893413108171,False,0.1,0.6,1,0,0.0,0.1052912821543027,0.0,0.5650893413108171,0.0,2026-01-27 17:28:55
+gigahand,ability,bimanual,mjwp,p52-instrument,1,0.0843514408817228,0.5338086819189651,True,0.1,0.6,1,1,1.0,0.0843514408817228,0.0,0.5338086819189651,0.0,2026-01-27 17:28:55
+gigahand,ability,bimanual,mjwp,p52-instrument,0,0.0616013734515117,0.4800783822317556,True,0.1,0.6,1,1,1.0,0.0616013734515117,0.0,0.4800783822317556,0.0,2026-01-27 17:28:55
+gigahand,ability,bimanual,mjwp,p52-instrument,2,0.108098509668684,0.5580383074732377,False,0.1,0.6,1,0,0.0,0.108098509668684,0.0,0.5580383074732377,0.0,2026-01-27 17:28:55
+gigahand,ability,bimanual,mjwp,p36-tea,3,0.0405440636673484,0.390486674487006,True,0.1,0.6,1,1,1.0,0.0405440636673484,0.0,0.390486674487006,0.0,2026-01-27 17:28:55
+gigahand,ability,bimanual,mjwp,p36-tea,4,0.0479229095081824,0.3668645136267032,True,0.1,0.6,1,1,1.0,0.0479229095081824,0.0,0.3668645136267032,0.0,2026-01-27 17:28:55
+gigahand,ability,bimanual,mjwp,p36-tea,1,0.0429579550335734,0.3643977925629861,True,0.1,0.6,1,1,1.0,0.0429579550335734,0.0,0.3643977925629861,0.0,2026-01-27 17:28:55
+gigahand,ability,bimanual,mjwp,p36-tea,0,0.0222325892028325,0.3723106061501948,True,0.1,0.6,1,1,1.0,0.0222325892028325,0.0,0.3723106061501948,0.0,2026-01-27 17:28:55
+gigahand,ability,bimanual,mjwp,p36-tea,2,0.0306739846213697,0.3633095070254317,True,0.1,0.6,1,1,1.0,0.0306739846213697,0.0,0.3633095070254317,0.0,2026-01-27 17:28:55
+gigahand,ability,bimanual,mjwp,p44-dog,3,0.027088313884012,0.1153399245125194,True,0.1,0.6,1,1,1.0,0.027088313884012,0.0,0.1153399245125194,0.0,2026-01-27 17:28:55
+gigahand,ability,bimanual,mjwp,p44-dog,4,0.0301669093304919,0.1295346329536087,True,0.1,0.6,1,1,1.0,0.0301669093304919,0.0,0.1295346329536087,0.0,2026-01-27 17:28:55
+gigahand,ability,bimanual,mjwp,p44-dog,1,0.0189592829351881,0.1134474837088442,True,0.1,0.6,1,1,1.0,0.0189592829351881,0.0,0.1134474837088442,0.0,2026-01-27 17:28:55
+gigahand,ability,bimanual,mjwp,p44-dog,0,0.0235116245605747,0.1120391909790461,True,0.1,0.6,1,1,1.0,0.0235116245605747,0.0,0.1120391909790461,0.0,2026-01-27 17:28:55
+gigahand,ability,bimanual,mjwp,p44-dog,2,0.0199230013141735,0.1131050844800895,True,0.1,0.6,1,1,1.0,0.0199230013141735,0.0,0.1131050844800895,0.0,2026-01-27 17:28:55
+gigahand,ability,bimanual,mjwp,p52-instrument,0,0.06160137345151179,0.4800783822317556,True,0.1,0.5,1,1,1.0,0.06160137345151179,0.0,0.4800783822317556,0.0,2026-01-28 14:24:26
+gigahand,ability,bimanual,mjwp,p52-instrument,1,0.08435144088172283,0.5338086819189651,False,0.1,0.5,1,0,0.0,0.08435144088172283,0.0,0.5338086819189651,0.0,2026-01-28 14:24:26
+gigahand,ability,bimanual,mjwp,p52-instrument,2,0.10809850966868402,0.5580383074732377,False,0.1,0.5,1,0,0.0,0.10809850966868402,0.0,0.5580383074732377,0.0,2026-01-28 14:24:26
+gigahand,ability,bimanual,mjwp,p52-instrument,3,0.11229489353840937,0.5714313796434585,False,0.1,0.5,1,0,0.0,0.11229489353840937,0.0,0.5714313796434585,0.0,2026-01-28 14:24:26
+gigahand,ability,bimanual,mjwp,p52-instrument,4,0.10529128215430276,0.5650893413108171,False,0.1,0.5,1,0,0.0,0.10529128215430276,0.0,0.5650893413108171,0.0,2026-01-28 14:24:26
+gigahand,ability,bimanual,mjwp,p36-tea,0,0.022232589202832564,0.37231060615019484,True,0.1,0.5,1,1,1.0,0.022232589202832564,0.0,0.37231060615019484,0.0,2026-01-28 14:24:26
+gigahand,ability,bimanual,mjwp,p36-tea,1,0.04295795503357343,0.3643977925629861,True,0.1,0.5,1,1,1.0,0.04295795503357343,0.0,0.3643977925629861,0.0,2026-01-28 14:24:26
+gigahand,ability,bimanual,mjwp,p36-tea,2,0.030673984621369797,0.3633095070254317,True,0.1,0.5,1,1,1.0,0.030673984621369797,0.0,0.3633095070254317,0.0,2026-01-28 14:24:26
+gigahand,ability,bimanual,mjwp,p36-tea,3,0.040544063667348425,0.390486674487006,True,0.1,0.5,1,1,1.0,0.040544063667348425,0.0,0.390486674487006,0.0,2026-01-28 14:24:26
+gigahand,ability,bimanual,mjwp,p36-tea,4,0.04792290950818242,0.3668645136267032,True,0.1,0.5,1,1,1.0,0.04792290950818242,0.0,0.3668645136267032,0.0,2026-01-28 14:24:26
+gigahand,ability,bimanual,mjwp,p44-dog,0,0.023511624560574727,0.11203919097904615,True,0.1,0.5,1,1,1.0,0.023511624560574727,0.0,0.11203919097904615,0.0,2026-01-28 14:24:26
+gigahand,ability,bimanual,mjwp,p44-dog,1,0.018959282935188174,0.11344748370884424,True,0.1,0.5,1,1,1.0,0.018959282935188174,0.0,0.11344748370884424,0.0,2026-01-28 14:24:26
+gigahand,ability,bimanual,mjwp,p44-dog,2,0.01992300131417354,0.11310508448008957,True,0.1,0.5,1,1,1.0,0.01992300131417354,0.0,0.11310508448008957,0.0,2026-01-28 14:24:26
+gigahand,ability,bimanual,mjwp,p44-dog,3,0.027088313884012092,0.11533992451251943,True,0.1,0.5,1,1,1.0,0.027088313884012092,0.0,0.11533992451251943,0.0,2026-01-28 14:24:26
+gigahand,ability,bimanual,mjwp,p44-dog,4,0.030166909330491987,0.12953463295360873,True,0.1,0.5,1,1,1.0,0.030166909330491987,0.0,0.12953463295360873,0.0,2026-01-28 14:24:26
diff --git a/processed/gigahand/allegro/bimanual/complete_data.csv b/processed/gigahand/allegro/bimanual/complete_data.csv
index 1f4b8759451b922b565d8a8a9d0cfbaa03e3dfd5..8984b5a62235e791c7d7d7d73c1ee18ad5d985e2 100644
--- a/processed/gigahand/allegro/bimanual/complete_data.csv
+++ b/processed/gigahand/allegro/bimanual/complete_data.csv
@@ -1,4 +1,16 @@
-dataset,robot_type,hand_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
-gigahand,allegro,bimanual,mjwpeq,p44-dog,4,p44-dog/4,0.0452994682057118,0.10801519692010961,0.0452994682057118,1.5479519411488404e-05,0.10801519692010961,1.6560889560172425e-05,True,0.1,0.5
-gigahand,allegro,bimanual,mjwpeq,p52-instrument,34,p52-instrument/34,0.03774167362745931,0.08407248560538537,0.03774167362745931,1.9959327985348373e-05,0.08407248560538537,1.3571206957017625e-05,True,0.1,0.5
-gigahand,allegro,bimanual,mjwpeq,p36-tea,10,p36-tea/10,0.11702017406439635,0.5724960064982507,0.11702017406439635,1.962564648700645e-05,0.5724960064982507,1.668040248856064e-05,False,0.1,0.5
+dataset,robot_type,embodiment_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
+gigahand,allegro,bimanual,mjwp,p52-instrument,0,p52-instrument/0,0.0306315118687686,0.11854043589105838,0.0306315118687686,4.154021941115855e-06,0.11854043589105838,3.761101536520128e-05,True,0.1,0.5
+gigahand,allegro,bimanual,mjwp,p52-instrument,1,p52-instrument/1,0.02848627289461668,0.11879050494030173,0.02848627289461668,4.154021941115855e-06,0.11879050494030173,3.7611008014473304e-05,True,0.1,0.5
+gigahand,allegro,bimanual,mjwp,p52-instrument,2,p52-instrument/2,0.03104258537244218,0.11360558751984068,0.03104258537244218,4.154021941115855e-06,0.11360558751984068,3.7611008014473304e-05,True,0.1,0.5
+gigahand,allegro,bimanual,mjwp,p52-instrument,3,p52-instrument/3,0.02906166703333436,0.11612065544957068,0.02906166703333436,4.1540215801797754e-06,0.11612065544957068,3.761008803347916e-05,True,0.1,0.5
+gigahand,allegro,bimanual,mjwp,p52-instrument,4,p52-instrument/4,0.026667053820196563,0.11518943907910263,0.026667053820196563,4.154021941115855e-06,0.11518943907910263,3.761101025975597e-05,True,0.1,0.5
+gigahand,allegro,bimanual,mjwp,p36-tea,0,p36-tea/0,0.03153640627804901,0.25041770258955764,0.03153640627804901,2.1358086343332475e-06,0.25041770258955764,4.116146593405672e-05,True,0.1,0.5
+gigahand,allegro,bimanual,mjwp,p36-tea,1,p36-tea/1,0.024862565967730475,0.26955142314421965,0.024862565967730475,2.1358086343332475e-06,0.26955142314421965,4.116143087637284e-05,True,0.1,0.5
+gigahand,allegro,bimanual,mjwp,p36-tea,2,p36-tea/2,0.02946954269696917,0.2620762695254323,0.02946954269696917,2.1358086343332475e-06,0.2620762695254323,4.116144137872369e-05,True,0.1,0.5
+gigahand,allegro,bimanual,mjwp,p36-tea,3,p36-tea/3,0.04742267420354169,0.4300844855567926,0.04742267420354169,2.1358086343332475e-06,0.4300844855567926,4.11614308960677e-05,True,0.1,0.5
+gigahand,allegro,bimanual,mjwp,p36-tea,4,p36-tea/4,0.02478682356425784,0.19540744121412223,0.02478682356425784,2.1358086343332475e-06,0.19540744121412223,4.11614483999859e-05,True,0.1,0.5
+gigahand,allegro,bimanual,mjwp,p44-dog,0,p44-dog/0,0.03567799606525174,0.07028710158468417,0.03567799606525174,3.6785376458045374e-06,0.07028710158468417,7.301772229408637e-06,True,0.1,0.5
+gigahand,allegro,bimanual,mjwp,p44-dog,1,p44-dog/1,0.037920195141299934,0.08047137979268978,0.037920195141299934,3.6785425521294535e-06,0.08047137979268978,7.3019230657364e-06,True,0.1,0.5
+gigahand,allegro,bimanual,mjwp,p44-dog,2,p44-dog/2,0.043012367685337664,0.08925798388603347,0.043012367685337664,3.6785376458045374e-06,0.08925798388603347,7.301772229408637e-06,True,0.1,0.5
+gigahand,allegro,bimanual,mjwp,p44-dog,3,p44-dog/3,0.04514359830429294,0.08563132746302134,0.04514359830429294,3.678543174448042e-06,0.08563132746302134,7.30194156267497e-06,True,0.1,0.5
+gigahand,allegro,bimanual,mjwp,p44-dog,4,p44-dog/4,0.0358450616516336,0.07839968408730402,0.0358450616516336,3.6785376458045374e-06,0.07839968408730402,7.301772213857842e-06,True,0.1,0.5
diff --git a/processed/gigahand/allegro/bimanual/p36-tea/0/config.yaml b/processed/gigahand/allegro/bimanual/p36-tea/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..436f6a47502d1ea7ac58e6f014b1ef215da106c1
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p36-tea/0/config.yaml
@@ -0,0 +1,89 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: p36-tea
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/allegro/bimanual/p36-tea/0/../scene.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/allegro/bimanual/p36-tea/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 1.6
+knot_dt: 0.4
+max_sim_steps: 676
+nconmax_per_env: 100
+njmax_per_env: 320
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 1
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.03
+rot_noise_scale: 0.01
+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: mujoco-rerun
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 27
+- 45
+- 3
+- 6
+- 9
+- 12
+- 16
+- 19
+- 22
+- 25
+horizon_steps: 160
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 58
+nv: 56
+nu: 44
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diff --git a/processed/gigahand/allegro/bimanual/p36-tea/3/trajectory_mjwp.npz b/processed/gigahand/allegro/bimanual/p36-tea/3/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..890eccc7d048e7252d32c83b2f3536de8b0305d9
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p36-tea/3/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5adbfcd33dd3b30c061ff71ac5c5612cdb0d0d3e8800d88c4acf394354a5d0c
+size 917414
diff --git a/processed/gigahand/allegro/bimanual/p36-tea/3/visualization_mjwp.mp4 b/processed/gigahand/allegro/bimanual/p36-tea/3/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..23fdd4a2f781e3f275fb665686d482b9345dead5
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p36-tea/3/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f379dde763da35eca1ccdfe3ccb8f0d845907a7f2a18820d1e599eb8c3c6523e
+size 1632259
diff --git a/processed/gigahand/allegro/bimanual/p36-tea/4/config.yaml b/processed/gigahand/allegro/bimanual/p36-tea/4/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d39a8bc852454b2c5fbe525e69b6d38d0542ed5e
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p36-tea/4/config.yaml
@@ -0,0 +1,90 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: p36-tea
+seed: 4
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p36-tea/4/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p36-tea/4/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 1.6
+knot_dt: 0.4
+max_sim_steps: 676
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 1
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.03
+rot_noise_scale: 0.01
+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: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 27
+- 45
+- 3
+- 6
+- 9
+- 12
+- 16
+- 19
+- 22
+- 25
+horizon_steps: 160
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 58
+nv: 56
+nu: 44
+npair: 517
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p36-tea/4
diff --git a/processed/gigahand/allegro/bimanual/p36-tea/4/trajectory_kinematic.npz b/processed/gigahand/allegro/bimanual/p36-tea/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8a5cbb65d5041630fe4de27cc55b39c8cb019a5c
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p36-tea/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c5deb941da125e9a037d6a9119b024e991a2edec0921beab38b2977df31ce80
+size 640684
diff --git a/processed/gigahand/allegro/bimanual/p36-tea/4/trajectory_mjwp.npz b/processed/gigahand/allegro/bimanual/p36-tea/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a7775ee3e2a2a9ef8c00bf5c2c24b29e06025df4
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p36-tea/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3738e05dbb46c1985207972ded234b4ea79c54dc44afd8f7827d994be2296ab
+size 917414
diff --git a/processed/gigahand/allegro/bimanual/p36-tea/4/visualization_mjwp.mp4 b/processed/gigahand/allegro/bimanual/p36-tea/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de99d19326fe610fb4459e684df47e902b02acdd
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p36-tea/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2910bf67a13d127e384caee54756c7b4a3c35ef7e1348583bbaed233b8fdb6f1
+size 1662765
diff --git a/processed/gigahand/allegro/bimanual/p36-tea/scene.xml b/processed/gigahand/allegro/bimanual/p36-tea/scene.xml
index 2d424bf3292e8dec2c0dfb375f70efb7a2f59f17..5ff860d427826469eadc933d7e7ab58c528d24c4 100644
--- a/processed/gigahand/allegro/bimanual/p36-tea/scene.xml
+++ b/processed/gigahand/allegro/bimanual/p36-tea/scene.xml
@@ -13,7 +13,7 @@
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
       <joint armature="1"/>
@@ -81,7 +81,7 @@
       </default>
       <default class="right_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
+        <general ctrlrange="-3 3" gainprm="3000" biasprm="0 -3000"/>
       </default>
       <default class="right_base_hinge">
         <joint range="-6.28 6.28"/>
@@ -121,7 +121,7 @@
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
       <joint armature="1"/>
@@ -189,7 +189,7 @@
       </default>
       <default class="left_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
+        <general ctrlrange="-3 3" gainprm="3000" biasprm="0 -3000"/>
       </default>
       <default class="left_base_hinge">
         <joint range="-6.28 6.28"/>
@@ -231,8 +231,8 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -268,12 +268,20 @@
     <mesh name="left_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
     <mesh name="right_0" file="objects/p36-tea/convex/0.obj"/>
     <mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
+    <mesh name="right_10" file="objects/p36-tea/convex/10.obj"/>
+    <mesh name="right_11" file="objects/p36-tea/convex/11.obj"/>
+    <mesh name="right_12" file="objects/p36-tea/convex/12.obj"/>
+    <mesh name="right_13" file="objects/p36-tea/convex/13.obj"/>
+    <mesh name="right_14" file="objects/p36-tea/convex/14.obj"/>
+    <mesh name="right_15" file="objects/p36-tea/convex/15.obj"/>
     <mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
     <mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
     <mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
     <mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
     <mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
     <mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
+    <mesh name="right_8" file="objects/p36-tea/convex/8.obj"/>
+    <mesh name="right_9" file="objects/p36-tea/convex/9.obj"/>
     <mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
   </asset>
 
@@ -310,9 +318,9 @@
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -335,9 +343,9 @@
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -360,9 +368,9 @@
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -385,9 +393,9 @@
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
                 <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -422,9 +430,9 @@
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -447,9 +455,9 @@
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -472,9 +480,9 @@
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -497,9 +505,9 @@
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
                 <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -508,14 +516,22 @@
     </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" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_10" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_10"/>
+      <geom name="right_object_11" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_15"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_9" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_9"/>
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
@@ -585,307 +601,523 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
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+    <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"/>
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+    <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"/>
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+    <pair geom1="collision_hand_right_index_2" geom2="right_object_11" name="collision_hand_right_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_12" name="collision_hand_right_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_13" name="collision_hand_right_index_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_14" name="collision_hand_right_index_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_15" name="collision_hand_right_index_2_right_object_15" 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"/>
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+    <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"/>
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+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_12" name="collision_hand_right_ring_2_right_object_12" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_15" name="collision_hand_right_ring_2_right_object_15" friction="1 1 0.1 0 0"/>
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+    <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"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" 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_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_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_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_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_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_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_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="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_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_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_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_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" 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_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_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_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_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_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_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_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_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_11" name="collision_hand_right_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_12" name="collision_hand_right_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_13" name="collision_hand_right_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_14" name="collision_hand_right_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_15" name="collision_hand_right_thumb_2_right_object_15" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" 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_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_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_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" 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_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_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_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_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_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_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_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_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_10" name="collision_hand_left_middle_2_right_object_10" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_12" name="collision_hand_left_middle_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_13" name="collision_hand_left_middle_2_right_object_13" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/gigahand/allegro/bimanual/p36-tea/scene_eq.xml b/processed/gigahand/allegro/bimanual/p36-tea/scene_eq.xml
index e8402448cf04303fc301b15c458d0ccc0a3f8d1c..a758170c3ff0b25e5be6b7a9f2273f028c6c5126 100644
--- a/processed/gigahand/allegro/bimanual/p36-tea/scene_eq.xml
+++ b/processed/gigahand/allegro/bimanual/p36-tea/scene_eq.xml
@@ -13,7 +13,7 @@
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
       <joint armature="1"/>
@@ -81,7 +81,7 @@
       </default>
       <default class="right_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
+        <general ctrlrange="-3 3" gainprm="3000" biasprm="0 -3000"/>
       </default>
       <default class="right_base_hinge">
         <joint range="-6.28 6.28"/>
@@ -121,7 +121,7 @@
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
       <joint armature="1"/>
@@ -189,7 +189,7 @@
       </default>
       <default class="left_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
+        <general ctrlrange="-3 3" gainprm="3000" biasprm="0 -3000"/>
       </default>
       <default class="left_base_hinge">
         <joint range="-6.28 6.28"/>
@@ -231,8 +231,8 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -268,12 +268,20 @@
     <mesh name="left_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
     <mesh name="right_0" file="objects/p36-tea/convex/0.obj"/>
     <mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
+    <mesh name="right_10" file="objects/p36-tea/convex/10.obj"/>
+    <mesh name="right_11" file="objects/p36-tea/convex/11.obj"/>
+    <mesh name="right_12" file="objects/p36-tea/convex/12.obj"/>
+    <mesh name="right_13" file="objects/p36-tea/convex/13.obj"/>
+    <mesh name="right_14" file="objects/p36-tea/convex/14.obj"/>
+    <mesh name="right_15" file="objects/p36-tea/convex/15.obj"/>
     <mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
     <mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
     <mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
     <mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
     <mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
     <mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
+    <mesh name="right_8" file="objects/p36-tea/convex/8.obj"/>
+    <mesh name="right_9" file="objects/p36-tea/convex/9.obj"/>
     <mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
   </asset>
 
@@ -310,9 +318,9 @@
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -335,9 +343,9 @@
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -360,9 +368,9 @@
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -385,9 +393,9 @@
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
                 <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -422,9 +430,9 @@
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -447,9 +455,9 @@
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -472,9 +480,9 @@
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -497,9 +505,9 @@
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
                 <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -508,14 +516,22 @@
     </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" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_10" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_10"/>
+      <geom name="right_object_11" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_15"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_9" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_9"/>
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
@@ -585,307 +601,523 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_index_0_collision_hand_left_ring_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_index_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_1" name="collision_hand_right_index_0_collision_hand_left_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_0" name="collision_hand_right_index_0_collision_hand_left_index_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_middle_0_collision_hand_right_thumb_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
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+    <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"/>
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+    <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"/>
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+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
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+    <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"/>
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+    <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"/>
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+    <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"/>
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+    <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_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_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_11" name="collision_hand_right_ring_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_12" name="collision_hand_right_ring_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_13" name="collision_hand_right_ring_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_14" name="collision_hand_right_ring_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_15" name="collision_hand_right_ring_2_right_object_15" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" 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_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_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_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_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_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_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_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="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_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_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_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_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" 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_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_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_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_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_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_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_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_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_11" name="collision_hand_right_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_12" name="collision_hand_right_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_13" name="collision_hand_right_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_14" name="collision_hand_right_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_15" name="collision_hand_right_thumb_2_right_object_15" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" 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_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_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_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_12" name="collision_hand_left_ring_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_13" name="collision_hand_left_ring_2_right_object_13" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_15" name="collision_hand_left_ring_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_9" name="collision_hand_left_ring_2_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_10" name="collision_hand_left_middle_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_11" name="collision_hand_left_middle_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_12" name="collision_hand_left_middle_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_13" name="collision_hand_left_middle_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_14" name="collision_hand_left_middle_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_15" name="collision_hand_left_middle_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_9" name="collision_hand_left_middle_2_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_left_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_10" name="collision_hand_left_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_11" name="collision_hand_left_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_12" name="collision_hand_left_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
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   </contact>
 
   <equality>
diff --git a/processed/gigahand/allegro/bimanual/p36-tea/task_info.json b/processed/gigahand/allegro/bimanual/p36-tea/task_info.json
index d0f13f5cee3beac7007496e6352bd11905c60e10..515d3e9510b7432513dca8a7c75b99084c111ec5 100644
--- a/processed/gigahand/allegro/bimanual/p36-tea/task_info.json
+++ b/processed/gigahand/allegro/bimanual/p36-tea/task_info.json
@@ -8,4 +8,4 @@
   "left_object_mesh_dir": null,
   "ref_dt": 0.02,
   "right_object_convex_dir": "processed/gigahand/assets/objects/p36-tea/convex"
-}
+}
\ No newline at end of file
diff --git a/processed/gigahand/allegro/bimanual/p44-dog/0/config.yaml b/processed/gigahand/allegro/bimanual/p44-dog/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8fd34d1d8501a74f413bee932946d5468af26643
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p44-dog/0/config.yaml
@@ -0,0 +1,89 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: p44-dog
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/allegro/bimanual/p44-dog/0/../scene.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/allegro/bimanual/p44-dog/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 1.6
+knot_dt: 0.4
+max_sim_steps: 654
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 1
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.03
+rot_noise_scale: 0.01
+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: mujoco-rerun
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 27
+- 45
+- 3
+- 6
+- 9
+- 12
+- 16
+- 19
+- 22
+- 25
+horizon_steps: 160
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 58
+nv: 56
+nu: 44
+npair: 301
+beta_traj: 0.930572040929699
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/allegro/bimanual/p44-dog/0
diff --git a/processed/gigahand/allegro/bimanual/p44-dog/0/trajectory_ikrollout.npz b/processed/gigahand/allegro/bimanual/p44-dog/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a000fdfea4654f2cd84d064e299b1df19aeba35a
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p44-dog/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
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diff --git a/processed/gigahand/allegro/bimanual/p44-dog/0/trajectory_kinematic.npz b/processed/gigahand/allegro/bimanual/p44-dog/0/trajectory_kinematic.npz
new file mode 100644
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--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p44-dog/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
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diff --git a/processed/gigahand/allegro/bimanual/p44-dog/0/trajectory_mjwp.npz b/processed/gigahand/allegro/bimanual/p44-dog/0/trajectory_mjwp.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/processed/gigahand/allegro/bimanual/p44-dog/0/visualization_ik.mp4 b/processed/gigahand/allegro/bimanual/p44-dog/0/visualization_ik.mp4
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/processed/gigahand/allegro/bimanual/p44-dog/4/trajectory_kinematic.npz b/processed/gigahand/allegro/bimanual/p44-dog/4/trajectory_kinematic.npz
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diff --git a/processed/gigahand/allegro/bimanual/p44-dog/scene.xml b/processed/gigahand/allegro/bimanual/p44-dog/scene.xml
index 92ba7117672df4ca1308abdb8101341fced9943e..8415d71272250d8b99a59c86445f4472247d6668 100644
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+++ b/processed/gigahand/allegro/bimanual/p44-dog/scene.xml
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 <mujoco model="bimanual">
-  <compiler angle="radian" meshdir="/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/"/>
+  <compiler angle="radian" meshdir="../../../assets/"/>
 
   <option timestep="0.01" iterations="10">
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@@ -13,7 +13,7 @@
 
   <default>
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-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
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@@ -81,11 +81,11 @@
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-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="3000" biasprm="0 -3000"/>
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         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base">
         <joint range="-0.47 0.47"/>
@@ -121,7 +121,7 @@
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
       <joint armature="1"/>
@@ -189,11 +189,11 @@
       </default>
       <default class="left_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="3000" biasprm="0 -3000"/>
       </default>
       <default class="left_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base">
         <joint range="-0.47 0.47"/>
@@ -231,8 +231,8 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -290,112 +290,104 @@
       <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="right_palm_visual" mesh="right_base_link"/>
-      <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="right_ffj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_ff_proximal" pos="0 0 0.0164">
-          <joint name="right_ffj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_ff_medial" pos="0 0 0.054">
-            <joint name="right_ffj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_ff_distal" pos="0 0 0.0384">
-              <joint name="right_ffj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_index_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_mf_base" pos="0 0 0.0007">
-        <joint name="right_mfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_mf_proximal" pos="0 0 0.0164">
-          <joint name="right_mfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_mf_medial" pos="0 0 0.054">
-            <joint name="right_mfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_mf_distal" pos="0 0 0.0384">
-              <joint name="right_mfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_middle_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="right_rfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_rf_proximal" pos="0 0 0.0164">
-          <joint name="right_rfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_rf_medial" pos="0 0 0.054">
-            <joint name="right_rfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_rf_distal" pos="0 0 0.0384">
-              <joint name="right_rfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_ring_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
-        <joint name="right_thj0" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
+        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
         <geom class="right_visual" mesh="right_link_12.0_right"/>
-        <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
-          <joint name="right_thj1" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="right_visual" mesh="right_link_13.0"/>
-          <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="right_th_medial" pos="0 0 0.0177">
-            <joint name="right_thj2" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_visual" mesh="right_link_14.0"/>
-            <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="right_th_distal" pos="0 0 0.0514">
-              <joint name="right_thj3" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_visual" mesh="right_link_15.0"/>
-              <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
-                <geom name="right_thumb_collision" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -410,112 +402,104 @@
       <joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link"/>
-      <geom name="left_palm_collision" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_left_palm_0" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="left_rfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_rf_proximal" pos="0 0 0.0164">
-          <joint name="left_rfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_rf_medial" pos="0 0 0.054">
-            <joint name="left_rfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_ring_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_rf_distal" pos="0 0 0.0384">
-              <joint name="left_rfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_ring_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_mf_base" pos="0 0 0.0007">
-        <joint name="left_mfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_mf_proximal" pos="0 0 0.0164">
-          <joint name="left_mfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_mf_medial" pos="0 0 0.054">
-            <joint name="left_mfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_middle_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_mf_distal" pos="0 0 0.0384">
-              <joint name="left_mfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_middle_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="left_ffj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_ff_proximal" pos="0 0 0.0164">
-          <joint name="left_ffj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_index_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_ff_medial" pos="0 0 0.054">
-            <joint name="left_ffj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_index_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_ff_distal" pos="0 0 0.0384">
-              <joint name="left_ffj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_index_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
-        <joint name="left_thj0" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
+        <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
         <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
-        <geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
-          <joint name="left_thj1" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="left_visual" mesh="left_link_13.0"/>
-          <geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="left_th_medial" pos="0 0 0.0177">
-            <joint name="left_thj2" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_visual" mesh="left_link_14.0"/>
-            <geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="left_th_distal" pos="0 0 0.0514">
-              <joint name="left_thj3" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <geom class="left_visual" mesh="left_link_15.0"/>
-              <geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
-                <geom name="left_thumb_collision" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -523,7 +507,7 @@
       </body>
     </body>
     <body name="right_object">
-      <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
       <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
       <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
       <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
@@ -535,14 +519,14 @@
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" size="0.01" 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"/>
@@ -569,7 +553,7 @@
       <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="left_object" gravcomp="1">
-      <joint name="left_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="1" frictionloss="1"/>
+      <joint name="left_object_joint" type="free" armature="1" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
@@ -601,245 +585,307 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_0" name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_1" name="right_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_2" name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_3" name="right_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_4" name="right_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_5" name="right_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_6" name="right_palm_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_7" name="right_palm_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_0" name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_1" name="right_index_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_2" name="right_index_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_3" name="right_index_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_4" name="right_index_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_5" name="right_index_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_6" name="right_index_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_7" name="right_index_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_index_intermediate_collision" name="left_index_intermediate_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_0" name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_1" name="right_index_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_2" name="right_index_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_3" name="right_index_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_4" name="right_index_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_5" name="right_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_6" name="right_index_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_7" name="right_index_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_index_collision" name="left_index_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_0" name="right_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_1" name="right_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_2" name="right_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_3" name="right_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_4" name="right_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_5" name="right_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_6" name="right_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_7" name="right_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_0" name="right_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_1" name="right_middle_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_2" name="right_middle_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_3" name="right_middle_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_4" name="right_middle_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_5" name="right_middle_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_6" name="right_middle_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_7" name="right_middle_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_0" name="right_middle_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_1" name="right_middle_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_2" name="right_middle_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_3" name="right_middle_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_4" name="right_middle_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_5" name="right_middle_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_6" name="right_middle_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_7" name="right_middle_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_0" name="right_middle_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_1" name="right_middle_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_2" name="right_middle_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_3" name="right_middle_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_4" name="right_middle_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_5" name="right_middle_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_6" name="right_middle_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_7" name="right_middle_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_0" name="right_ring_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_1" name="right_ring_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_2" name="right_ring_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_3" name="right_ring_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_4" name="right_ring_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_5" name="right_ring_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_index_collision" geom2="right_object_3" name="left_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_index_collision" geom2="right_object_5" name="left_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="right_object_6" name="left_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="right_object_7" name="left_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_0" name="left_thumb_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_1" name="left_thumb_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_3" name="left_thumb_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_6" name="left_thumb_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_7" name="left_thumb_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_1" name="left_thumb_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_2" name="left_thumb_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_3" name="left_thumb_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_4" name="left_thumb_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_6" name="left_thumb_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_7" name="left_thumb_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_0" name="left_thumb_distal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_1" name="left_thumb_distal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_2" name="left_thumb_distal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_3" name="left_thumb_distal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_4" name="left_thumb_distal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_5" name="left_thumb_distal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_6" name="left_thumb_distal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_7" name="left_thumb_distal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_0" name="left_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_1" name="left_thumb_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_2" name="left_thumb_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_3" name="left_thumb_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_4" name="left_thumb_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_5" name="left_thumb_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_6" name="left_thumb_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_7" name="left_thumb_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
+    <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="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_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_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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="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_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_index_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_1" name="collision_hand_right_index_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_0" name="collision_hand_right_index_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" 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_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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" 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_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_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_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_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_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
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+    <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"/>
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+    <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_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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_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_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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" 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_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_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_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_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_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_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_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_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_left_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_index_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
   </contact>
 
   <actuator>
@@ -849,43 +895,43 @@
     <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
     <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
     <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
-    <general name="right_ffa0" class="right_base" joint="right_ffj0"/>
-    <general name="right_ffa1" class="right_proximal" joint="right_ffj1"/>
-    <general name="right_ffa2" class="right_medial" joint="right_ffj2"/>
-    <general name="right_ffa3" class="right_distal" joint="right_ffj3"/>
-    <general name="right_mfa0" class="right_base" joint="right_mfj0"/>
-    <general name="right_mfa1" class="right_proximal" joint="right_mfj1"/>
-    <general name="right_mfa2" class="right_medial" joint="right_mfj2"/>
-    <general name="right_mfa3" class="right_distal" joint="right_mfj3"/>
-    <general name="right_rfa0" class="right_base" joint="right_rfj0"/>
-    <general name="right_rfa1" class="right_proximal" joint="right_rfj1"/>
-    <general name="right_rfa2" class="right_medial" joint="right_rfj2"/>
-    <general name="right_rfa3" class="right_distal" joint="right_rfj3"/>
-    <general name="right_tha0" class="right_thumb_base" joint="right_thj0"/>
-    <general name="right_tha1" class="right_thumb_proximal" joint="right_thj1"/>
-    <general name="right_tha2" class="right_thumb_medial" joint="right_thj2"/>
-    <general name="right_tha3" class="right_thumb_distal" joint="right_thj3"/>
+    <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
+    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
+    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
+    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
+    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
+    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
+    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
+    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
+    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
+    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
+    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
+    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
+    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
+    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
+    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
+    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
     <general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
     <general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
     <general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
     <general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
     <general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
     <general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
-    <general name="left_rfa0" class="left_base" joint="left_rfj0"/>
-    <general name="left_rfa1" class="left_proximal" joint="left_rfj1"/>
-    <general name="left_rfa2" class="left_medial" joint="left_rfj2"/>
-    <general name="left_rfa3" class="left_distal" joint="left_rfj3"/>
-    <general name="left_mfa0" class="left_base" joint="left_mfj0"/>
-    <general name="left_mfa1" class="left_proximal" joint="left_mfj1"/>
-    <general name="left_mfa2" class="left_medial" joint="left_mfj2"/>
-    <general name="left_mfa3" class="left_distal" joint="left_mfj3"/>
-    <general name="left_ffa0" class="left_base" joint="left_ffj0"/>
-    <general name="left_ffa1" class="left_proximal" joint="left_ffj1"/>
-    <general name="left_ffa2" class="left_medial" joint="left_ffj2"/>
-    <general name="left_ffa3" class="left_distal" joint="left_ffj3"/>
-    <general name="left_tha0" class="left_thumb_base" joint="left_thj0"/>
-    <general name="left_tha1" class="left_thumb_proximal" joint="left_thj1"/>
-    <general name="left_tha2" class="left_thumb_medial" joint="left_thj2"/>
-    <general name="left_tha3" class="left_thumb_distal" joint="left_thj3"/>
+    <general name="left_rfa0" class="left_base" joint="left_ring_base_joint"/>
+    <general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint"/>
+    <general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint"/>
+    <general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint"/>
+    <general name="left_mfa0" class="left_base" joint="left_middle_base_joint"/>
+    <general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint"/>
+    <general name="left_mfa2" class="left_medial" joint="left_middle_medial_joint"/>
+    <general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint"/>
+    <general name="left_ffa0" class="left_base" joint="left_index_base_joint"/>
+    <general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint"/>
+    <general name="left_ffa2" class="left_medial" joint="left_index_medial_joint"/>
+    <general name="left_ffa3" class="left_distal" joint="left_index_distal_joint"/>
+    <general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint"/>
+    <general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint"/>
+    <general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint"/>
+    <general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint"/>
   </actuator>
 </mujoco>
diff --git a/processed/gigahand/allegro/bimanual/p44-dog/scene_eq.xml b/processed/gigahand/allegro/bimanual/p44-dog/scene_eq.xml
index b4f606dc63a0ad88bdcc29fdbfabe6c2867f9874..68b5f62b3867531590b6b1c7326b4b6d4daa1293 100644
--- a/processed/gigahand/allegro/bimanual/p44-dog/scene_eq.xml
+++ b/processed/gigahand/allegro/bimanual/p44-dog/scene_eq.xml
@@ -1,5 +1,5 @@
 <mujoco model="bimanual">
-  <compiler angle="radian" meshdir="/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/"/>
+  <compiler angle="radian" meshdir="../../../assets/"/>
 
   <option timestep="0.01" iterations="10">
     <flag eulerdamp="disable"/>
@@ -13,7 +13,7 @@
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
       <joint armature="1"/>
@@ -81,11 +81,11 @@
       </default>
       <default class="right_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="3000" biasprm="0 -3000"/>
       </default>
       <default class="right_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base">
         <joint range="-0.47 0.47"/>
@@ -121,7 +121,7 @@
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
       <joint armature="1"/>
@@ -189,11 +189,11 @@
       </default>
       <default class="left_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="3000" biasprm="0 -3000"/>
       </default>
       <default class="left_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base">
         <joint range="-0.47 0.47"/>
@@ -231,8 +231,8 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -290,112 +290,104 @@
       <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="right_palm_visual" mesh="right_base_link"/>
-      <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="right_ffj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_ff_proximal" pos="0 0 0.0164">
-          <joint name="right_ffj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_ff_medial" pos="0 0 0.054">
-            <joint name="right_ffj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_ff_distal" pos="0 0 0.0384">
-              <joint name="right_ffj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_index_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_mf_base" pos="0 0 0.0007">
-        <joint name="right_mfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_mf_proximal" pos="0 0 0.0164">
-          <joint name="right_mfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_mf_medial" pos="0 0 0.054">
-            <joint name="right_mfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_mf_distal" pos="0 0 0.0384">
-              <joint name="right_mfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_middle_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="right_rfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_rf_proximal" pos="0 0 0.0164">
-          <joint name="right_rfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_rf_medial" pos="0 0 0.054">
-            <joint name="right_rfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_rf_distal" pos="0 0 0.0384">
-              <joint name="right_rfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_ring_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
-        <joint name="right_thj0" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
+        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
         <geom class="right_visual" mesh="right_link_12.0_right"/>
-        <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
-          <joint name="right_thj1" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="right_visual" mesh="right_link_13.0"/>
-          <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="right_th_medial" pos="0 0 0.0177">
-            <joint name="right_thj2" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_visual" mesh="right_link_14.0"/>
-            <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="right_th_distal" pos="0 0 0.0514">
-              <joint name="right_thj3" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_visual" mesh="right_link_15.0"/>
-              <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
-                <geom name="right_thumb_collision" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -410,112 +402,104 @@
       <joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link"/>
-      <geom name="left_palm_collision" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_left_palm_0" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="left_rfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_rf_proximal" pos="0 0 0.0164">
-          <joint name="left_rfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_rf_medial" pos="0 0 0.054">
-            <joint name="left_rfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_ring_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_rf_distal" pos="0 0 0.0384">
-              <joint name="left_rfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_ring_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_mf_base" pos="0 0 0.0007">
-        <joint name="left_mfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_mf_proximal" pos="0 0 0.0164">
-          <joint name="left_mfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_mf_medial" pos="0 0 0.054">
-            <joint name="left_mfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_middle_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_mf_distal" pos="0 0 0.0384">
-              <joint name="left_mfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_middle_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="left_ffj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_ff_proximal" pos="0 0 0.0164">
-          <joint name="left_ffj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_index_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_ff_medial" pos="0 0 0.054">
-            <joint name="left_ffj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_index_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_ff_distal" pos="0 0 0.0384">
-              <joint name="left_ffj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_index_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
-        <joint name="left_thj0" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
+        <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
         <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
-        <geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
-          <joint name="left_thj1" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="left_visual" mesh="left_link_13.0"/>
-          <geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="left_th_medial" pos="0 0 0.0177">
-            <joint name="left_thj2" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_visual" mesh="left_link_14.0"/>
-            <geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="left_th_distal" pos="0 0 0.0514">
-              <joint name="left_thj3" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <geom class="left_visual" mesh="left_link_15.0"/>
-              <geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
-                <geom name="left_thumb_collision" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -523,7 +507,7 @@
       </body>
     </body>
     <body name="right_object">
-      <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
       <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
       <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
       <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
@@ -535,14 +519,14 @@
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" size="0.01" 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"/>
@@ -569,7 +553,7 @@
       <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="left_object" gravcomp="1">
-      <joint name="left_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="1" frictionloss="1"/>
+      <joint name="left_object_joint" type="free" armature="1" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
@@ -601,245 +585,307 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_0" name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_1" name="right_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_2" name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_3" name="right_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_4" name="right_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_5" name="right_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_6" name="right_palm_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_7" name="right_palm_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_0" name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_1" name="right_index_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_2" name="right_index_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_3" name="right_index_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_4" name="right_index_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_5" name="right_index_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_6" name="right_index_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_7" name="right_index_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_index_intermediate_collision" name="left_index_intermediate_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_0" name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_1" name="right_index_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_2" name="right_index_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_3" name="right_index_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_4" name="right_index_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_5" name="right_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_6" name="right_index_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_7" name="right_index_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_index_collision" name="left_index_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_0" name="right_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_1" name="right_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_2" name="right_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_3" name="right_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_4" name="right_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_5" name="right_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_6" name="right_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_7" name="right_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_0" name="right_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_1" name="right_middle_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_2" name="right_middle_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_3" name="right_middle_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_4" name="right_middle_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_5" name="right_middle_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_6" name="right_middle_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_7" name="right_middle_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_0" name="right_middle_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_1" name="right_middle_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_2" name="right_middle_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_3" name="right_middle_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_4" name="right_middle_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_5" name="right_middle_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_6" name="right_middle_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_7" name="right_middle_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_0" name="right_middle_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_1" name="right_middle_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_2" name="right_middle_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_3" name="right_middle_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_4" name="right_middle_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_5" name="right_middle_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_6" name="right_middle_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_7" name="right_middle_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_0" name="right_ring_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_1" name="right_ring_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_2" name="right_ring_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_3" name="right_ring_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_4" name="right_ring_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_5" name="right_ring_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_6" name="right_ring_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_index_collision" geom2="right_object_3" name="left_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="right_object_4" name="left_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="right_object_5" name="left_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="right_object_6" name="left_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="right_object_7" name="left_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_0" name="left_thumb_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_1" name="left_thumb_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_2" name="left_thumb_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_3" name="left_thumb_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_4" name="left_thumb_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_5" name="left_thumb_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_6" name="left_thumb_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_7" name="left_thumb_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_0" name="left_thumb_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_1" name="left_thumb_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_2" name="left_thumb_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_3" name="left_thumb_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_4" name="left_thumb_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_5" name="left_thumb_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_6" name="left_thumb_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_7" name="left_thumb_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_0" name="left_thumb_distal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_1" name="left_thumb_distal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_2" name="left_thumb_distal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_3" name="left_thumb_distal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_4" name="left_thumb_distal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_5" name="left_thumb_distal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_6" name="left_thumb_distal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_7" name="left_thumb_distal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_0" name="left_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_1" name="left_thumb_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_2" name="left_thumb_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_3" name="left_thumb_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_4" name="left_thumb_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_5" name="left_thumb_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_6" name="left_thumb_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_7" name="left_thumb_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
+    <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="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_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_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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="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_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_index_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_1" name="collision_hand_right_index_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_0" name="collision_hand_right_index_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" 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_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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" 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_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_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_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_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_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_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
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+    <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_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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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+    <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_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_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_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_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_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_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_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="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_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_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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" 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_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_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_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_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_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_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_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_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_left_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_index_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
   </contact>
 
   <equality>
@@ -868,43 +914,43 @@
     <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
     <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
     <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
-    <general name="right_ffa0" class="right_base" joint="right_ffj0"/>
-    <general name="right_ffa1" class="right_proximal" joint="right_ffj1"/>
-    <general name="right_ffa2" class="right_medial" joint="right_ffj2"/>
-    <general name="right_ffa3" class="right_distal" joint="right_ffj3"/>
-    <general name="right_mfa0" class="right_base" joint="right_mfj0"/>
-    <general name="right_mfa1" class="right_proximal" joint="right_mfj1"/>
-    <general name="right_mfa2" class="right_medial" joint="right_mfj2"/>
-    <general name="right_mfa3" class="right_distal" joint="right_mfj3"/>
-    <general name="right_rfa0" class="right_base" joint="right_rfj0"/>
-    <general name="right_rfa1" class="right_proximal" joint="right_rfj1"/>
-    <general name="right_rfa2" class="right_medial" joint="right_rfj2"/>
-    <general name="right_rfa3" class="right_distal" joint="right_rfj3"/>
-    <general name="right_tha0" class="right_thumb_base" joint="right_thj0"/>
-    <general name="right_tha1" class="right_thumb_proximal" joint="right_thj1"/>
-    <general name="right_tha2" class="right_thumb_medial" joint="right_thj2"/>
-    <general name="right_tha3" class="right_thumb_distal" joint="right_thj3"/>
+    <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
+    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
+    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
+    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
+    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
+    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
+    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
+    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
+    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
+    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
+    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
+    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
+    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
+    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
+    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
+    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
     <general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
     <general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
     <general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
     <general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
     <general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
     <general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
-    <general name="left_rfa0" class="left_base" joint="left_rfj0"/>
-    <general name="left_rfa1" class="left_proximal" joint="left_rfj1"/>
-    <general name="left_rfa2" class="left_medial" joint="left_rfj2"/>
-    <general name="left_rfa3" class="left_distal" joint="left_rfj3"/>
-    <general name="left_mfa0" class="left_base" joint="left_mfj0"/>
-    <general name="left_mfa1" class="left_proximal" joint="left_mfj1"/>
-    <general name="left_mfa2" class="left_medial" joint="left_mfj2"/>
-    <general name="left_mfa3" class="left_distal" joint="left_mfj3"/>
-    <general name="left_ffa0" class="left_base" joint="left_ffj0"/>
-    <general name="left_ffa1" class="left_proximal" joint="left_ffj1"/>
-    <general name="left_ffa2" class="left_medial" joint="left_ffj2"/>
-    <general name="left_ffa3" class="left_distal" joint="left_ffj3"/>
-    <general name="left_tha0" class="left_thumb_base" joint="left_thj0"/>
-    <general name="left_tha1" class="left_thumb_proximal" joint="left_thj1"/>
-    <general name="left_tha2" class="left_thumb_medial" joint="left_thj2"/>
-    <general name="left_tha3" class="left_thumb_distal" joint="left_thj3"/>
+    <general name="left_rfa0" class="left_base" joint="left_ring_base_joint"/>
+    <general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint"/>
+    <general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint"/>
+    <general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint"/>
+    <general name="left_mfa0" class="left_base" joint="left_middle_base_joint"/>
+    <general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint"/>
+    <general name="left_mfa2" class="left_medial" joint="left_middle_medial_joint"/>
+    <general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint"/>
+    <general name="left_ffa0" class="left_base" joint="left_index_base_joint"/>
+    <general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint"/>
+    <general name="left_ffa2" class="left_medial" joint="left_index_medial_joint"/>
+    <general name="left_ffa3" class="left_distal" joint="left_index_distal_joint"/>
+    <general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint"/>
+    <general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint"/>
+    <general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint"/>
+    <general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint"/>
   </actuator>
 </mujoco>
diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/0/config.yaml b/processed/gigahand/allegro/bimanual/p52-instrument/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..35af4a7f948b704dffe944af9c6d1e04bedea118
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/0/config.yaml
@@ -0,0 +1,89 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: p52-instrument
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/allegro/bimanual/p52-instrument/0/../scene.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/allegro/bimanual/p52-instrument/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 1.6
+knot_dt: 0.4
+max_sim_steps: 258
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 1
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
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diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/34/visualization_ik.mp4 b/processed/gigahand/allegro/bimanual/p52-instrument/34/visualization_ik.mp4
deleted file mode 100644
index 9a07acc3ab9b82c35bbe910e623367e15cf78c75..0000000000000000000000000000000000000000
--- a/processed/gigahand/allegro/bimanual/p52-instrument/34/visualization_ik.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/34/visualization_mjwp.mp4 b/processed/gigahand/allegro/bimanual/p52-instrument/34/visualization_mjwp.mp4
deleted file mode 100644
index 3036382aed403c14090f5de90e839baee3883ecd..0000000000000000000000000000000000000000
--- a/processed/gigahand/allegro/bimanual/p52-instrument/34/visualization_mjwp.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
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diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/34/visualization_mjwpeq.mp4 b/processed/gigahand/allegro/bimanual/p52-instrument/34/visualization_mjwpeq.mp4
deleted file mode 100644
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--- a/processed/gigahand/allegro/bimanual/p52-instrument/34/visualization_mjwpeq.mp4
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/4/config.yaml b/processed/gigahand/allegro/bimanual/p52-instrument/4/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8f6a618f5f1c29d0b72b75c3f8f7d899f2aab19f
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/4/config.yaml
@@ -0,0 +1,90 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: p52-instrument
+seed: 4
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p52-instrument/4/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p52-instrument/4/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 1.6
+knot_dt: 0.4
+max_sim_steps: 258
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 1
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.03
+rot_noise_scale: 0.01
+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: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 27
+- 45
+- 3
+- 6
+- 9
+- 12
+- 16
+- 19
+- 22
+- 25
+horizon_steps: 160
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 58
+nv: 56
+nu: 44
+npair: 247
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p52-instrument/4
diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/4/trajectory_kinematic.npz b/processed/gigahand/allegro/bimanual/p52-instrument/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ac81fac8b5a6bc355f96be0a64700dc544f2c742
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1da3251241bb6b8212ef08803ece8a0c884048ac1cfd73e975e6ada192b4fbc9
+size 246092
diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/4/trajectory_mjwp.npz b/processed/gigahand/allegro/bimanual/p52-instrument/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1e38133badaf411e4d3e395207aefad8a399ab72
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1205217287c3935cac2748eb9a8337859f1282b419e8eee63da8ae3da0dd604
+size 381654
diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/4/visualization_mjwp.mp4 b/processed/gigahand/allegro/bimanual/p52-instrument/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9ac0bd515c9d097894006a7cf5ee17830e49d1d6
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70c03066c5111fae26c614b773633ba1ebaed8b8a269b8fc6d74f7d519c7d320
+size 890311
diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/scene.xml b/processed/gigahand/allegro/bimanual/p52-instrument/scene.xml
index e04ac72eeeb12c01facbe9503c6df36a11367e8d..bc06ad6b7a672477bf28c87d43f8a02d11ad106e 100644
--- a/processed/gigahand/allegro/bimanual/p52-instrument/scene.xml
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/scene.xml
@@ -1,5 +1,5 @@
 <mujoco model="bimanual">
-  <compiler angle="radian" meshdir="/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/"/>
+  <compiler angle="radian" meshdir="../../../assets/"/>
 
   <option timestep="0.01" iterations="10">
     <flag eulerdamp="disable"/>
@@ -13,7 +13,7 @@
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
       <joint armature="1"/>
@@ -81,11 +81,11 @@
       </default>
       <default class="right_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="3000" biasprm="0 -3000"/>
       </default>
       <default class="right_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base">
         <joint range="-0.47 0.47"/>
@@ -121,7 +121,7 @@
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
       <joint armature="1"/>
@@ -189,11 +189,11 @@
       </default>
       <default class="left_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="3000" biasprm="0 -3000"/>
       </default>
       <default class="left_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base">
         <joint range="-0.47 0.47"/>
@@ -231,8 +231,8 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -288,112 +288,104 @@
       <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="right_palm_visual" mesh="right_base_link"/>
-      <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="right_ffj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_ff_proximal" pos="0 0 0.0164">
-          <joint name="right_ffj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_ff_medial" pos="0 0 0.054">
-            <joint name="right_ffj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_ff_distal" pos="0 0 0.0384">
-              <joint name="right_ffj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_index_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_mf_base" pos="0 0 0.0007">
-        <joint name="right_mfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_mf_proximal" pos="0 0 0.0164">
-          <joint name="right_mfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
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           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_mf_medial" pos="0 0 0.054">
-            <joint name="right_mfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_mf_distal" pos="0 0 0.0384">
-              <joint name="right_mfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_middle_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="right_rfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_rf_proximal" pos="0 0 0.0164">
-          <joint name="right_rfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_rf_medial" pos="0 0 0.054">
-            <joint name="right_rfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_rf_distal" pos="0 0 0.0384">
-              <joint name="right_rfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_ring_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
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       </body>
       <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
-        <joint name="right_thj0" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
+        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
         <geom class="right_visual" mesh="right_link_12.0_right"/>
-        <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
-          <joint name="right_thj1" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
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           <geom class="right_visual" mesh="right_link_13.0"/>
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             <geom class="right_visual" mesh="right_link_14.0"/>
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             <body name="right_th_distal" pos="0 0 0.0514">
-              <joint name="right_thj3" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
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               <geom class="right_visual" mesh="right_link_15.0"/>
-              <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
-                <geom name="right_thumb_collision" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -408,112 +400,104 @@
       <joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link"/>
-      <geom name="left_palm_collision" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_left_palm_0" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="left_rfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_rf_proximal" pos="0 0 0.0164">
-          <joint name="left_rfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_rf_medial" pos="0 0 0.054">
-            <joint name="left_rfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_ring_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_rf_distal" pos="0 0 0.0384">
-              <joint name="left_rfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_ring_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_mf_base" pos="0 0 0.0007">
-        <joint name="left_mfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_mf_proximal" pos="0 0 0.0164">
-          <joint name="left_mfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_mf_medial" pos="0 0 0.054">
-            <joint name="left_mfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_middle_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_mf_distal" pos="0 0 0.0384">
-              <joint name="left_mfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_middle_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="left_ffj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_ff_proximal" pos="0 0 0.0164">
-          <joint name="left_ffj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_index_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_ff_medial" pos="0 0 0.054">
-            <joint name="left_ffj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_index_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_ff_distal" pos="0 0 0.0384">
-              <joint name="left_ffj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_index_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
-        <joint name="left_thj0" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
+        <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
         <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
-        <geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
-          <joint name="left_thj1" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="left_visual" mesh="left_link_13.0"/>
-          <geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="left_th_medial" pos="0 0 0.0177">
-            <joint name="left_thj2" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_visual" mesh="left_link_14.0"/>
-            <geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="left_th_distal" pos="0 0 0.0514">
-              <joint name="left_thj3" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <geom class="left_visual" mesh="left_link_15.0"/>
-              <geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
-                <geom name="left_thumb_collision" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -521,7 +505,7 @@
       </body>
     </body>
     <body name="right_object">
-      <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
       <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
       <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
       <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
@@ -532,13 +516,13 @@
       <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.51175 0.464024 0.2359" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" size="0.01" 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"/>
@@ -565,7 +549,7 @@
       <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="left_object" gravcomp="1">
-      <joint name="left_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="1" frictionloss="1"/>
+      <joint name="left_object_joint" type="free" armature="1" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
@@ -597,187 +581,253 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_0" name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_1" name="right_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_2" name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_3" name="right_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_4" name="right_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_5" name="right_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_0" name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_1" name="right_index_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_2" name="right_index_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_3" name="right_index_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_4" name="right_index_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_5" name="right_index_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_index_intermediate_collision" name="left_index_intermediate_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_0" name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_1" name="right_index_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_2" name="right_index_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_3" name="right_index_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_4" name="right_index_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_5" name="right_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_index_collision" geom2="right_object_3" name="left_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="right_object_4" name="left_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="right_object_5" name="left_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_0" name="left_thumb_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_4" name="left_thumb_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_5" name="left_thumb_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_thumb_distal_collision" geom2="right_object_1" name="left_thumb_distal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_thumb_distal_collision" geom2="right_object_5" name="left_thumb_distal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_0" name="left_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_1" name="left_thumb_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_2" name="left_thumb_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_3" name="left_thumb_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_4" name="left_thumb_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_5" name="left_thumb_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
+    <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="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_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_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" 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_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_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_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_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_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="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_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_index_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_1" name="collision_hand_right_index_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_0" name="collision_hand_right_index_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" 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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" 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_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_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_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_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_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="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_thumb_0" name="collision_hand_right_middle_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" 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_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_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_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_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_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="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" 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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" 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_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_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_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_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_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_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_left_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_index_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
   </contact>
 
   <actuator>
@@ -787,43 +837,43 @@
     <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
     <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
     <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
-    <general name="right_ffa0" class="right_base" joint="right_ffj0"/>
-    <general name="right_ffa1" class="right_proximal" joint="right_ffj1"/>
-    <general name="right_ffa2" class="right_medial" joint="right_ffj2"/>
-    <general name="right_ffa3" class="right_distal" joint="right_ffj3"/>
-    <general name="right_mfa0" class="right_base" joint="right_mfj0"/>
-    <general name="right_mfa1" class="right_proximal" joint="right_mfj1"/>
-    <general name="right_mfa2" class="right_medial" joint="right_mfj2"/>
-    <general name="right_mfa3" class="right_distal" joint="right_mfj3"/>
-    <general name="right_rfa0" class="right_base" joint="right_rfj0"/>
-    <general name="right_rfa1" class="right_proximal" joint="right_rfj1"/>
-    <general name="right_rfa2" class="right_medial" joint="right_rfj2"/>
-    <general name="right_rfa3" class="right_distal" joint="right_rfj3"/>
-    <general name="right_tha0" class="right_thumb_base" joint="right_thj0"/>
-    <general name="right_tha1" class="right_thumb_proximal" joint="right_thj1"/>
-    <general name="right_tha2" class="right_thumb_medial" joint="right_thj2"/>
-    <general name="right_tha3" class="right_thumb_distal" joint="right_thj3"/>
+    <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
+    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
+    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
+    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
+    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
+    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
+    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
+    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
+    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
+    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
+    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
+    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
+    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
+    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
+    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
+    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
     <general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
     <general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
     <general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
     <general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
     <general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
     <general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
-    <general name="left_rfa0" class="left_base" joint="left_rfj0"/>
-    <general name="left_rfa1" class="left_proximal" joint="left_rfj1"/>
-    <general name="left_rfa2" class="left_medial" joint="left_rfj2"/>
-    <general name="left_rfa3" class="left_distal" joint="left_rfj3"/>
-    <general name="left_mfa0" class="left_base" joint="left_mfj0"/>
-    <general name="left_mfa1" class="left_proximal" joint="left_mfj1"/>
-    <general name="left_mfa2" class="left_medial" joint="left_mfj2"/>
-    <general name="left_mfa3" class="left_distal" joint="left_mfj3"/>
-    <general name="left_ffa0" class="left_base" joint="left_ffj0"/>
-    <general name="left_ffa1" class="left_proximal" joint="left_ffj1"/>
-    <general name="left_ffa2" class="left_medial" joint="left_ffj2"/>
-    <general name="left_ffa3" class="left_distal" joint="left_ffj3"/>
-    <general name="left_tha0" class="left_thumb_base" joint="left_thj0"/>
-    <general name="left_tha1" class="left_thumb_proximal" joint="left_thj1"/>
-    <general name="left_tha2" class="left_thumb_medial" joint="left_thj2"/>
-    <general name="left_tha3" class="left_thumb_distal" joint="left_thj3"/>
+    <general name="left_rfa0" class="left_base" joint="left_ring_base_joint"/>
+    <general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint"/>
+    <general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint"/>
+    <general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint"/>
+    <general name="left_mfa0" class="left_base" joint="left_middle_base_joint"/>
+    <general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint"/>
+    <general name="left_mfa2" class="left_medial" joint="left_middle_medial_joint"/>
+    <general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint"/>
+    <general name="left_ffa0" class="left_base" joint="left_index_base_joint"/>
+    <general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint"/>
+    <general name="left_ffa2" class="left_medial" joint="left_index_medial_joint"/>
+    <general name="left_ffa3" class="left_distal" joint="left_index_distal_joint"/>
+    <general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint"/>
+    <general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint"/>
+    <general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint"/>
+    <general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint"/>
   </actuator>
 </mujoco>
diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/scene_eq.xml b/processed/gigahand/allegro/bimanual/p52-instrument/scene_eq.xml
index 5cf34f8d23d7dd7d45708f4578d20261be15ad6e..c4f7fae34d18248f692099872a04fe4de8b61c29 100644
--- a/processed/gigahand/allegro/bimanual/p52-instrument/scene_eq.xml
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/scene_eq.xml
@@ -1,5 +1,5 @@
 <mujoco model="bimanual">
-  <compiler angle="radian" meshdir="/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/"/>
+  <compiler angle="radian" meshdir="../../../assets/"/>
 
   <option timestep="0.01" iterations="10">
     <flag eulerdamp="disable"/>
@@ -13,7 +13,7 @@
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
       <joint armature="1"/>
@@ -81,11 +81,11 @@
       </default>
       <default class="right_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="3000" biasprm="0 -3000"/>
       </default>
       <default class="right_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base">
         <joint range="-0.47 0.47"/>
@@ -121,7 +121,7 @@
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
       <joint armature="1"/>
@@ -189,11 +189,11 @@
       </default>
       <default class="left_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="3000" biasprm="0 -3000"/>
       </default>
       <default class="left_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base">
         <joint range="-0.47 0.47"/>
@@ -231,8 +231,8 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -288,112 +288,104 @@
       <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="right_palm_visual" mesh="right_base_link"/>
-      <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="right_ffj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_ff_proximal" pos="0 0 0.0164">
-          <joint name="right_ffj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_ff_medial" pos="0 0 0.054">
-            <joint name="right_ffj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_ff_distal" pos="0 0 0.0384">
-              <joint name="right_ffj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_index_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_mf_base" pos="0 0 0.0007">
-        <joint name="right_mfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_mf_proximal" pos="0 0 0.0164">
-          <joint name="right_mfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_mf_medial" pos="0 0 0.054">
-            <joint name="right_mfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_mf_distal" pos="0 0 0.0384">
-              <joint name="right_mfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_middle_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="right_rfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_rf_proximal" pos="0 0 0.0164">
-          <joint name="right_rfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_rf_medial" pos="0 0 0.054">
-            <joint name="right_rfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_rf_distal" pos="0 0 0.0384">
-              <joint name="right_rfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_ring_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
-        <joint name="right_thj0" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
+        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
         <geom class="right_visual" mesh="right_link_12.0_right"/>
-        <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
-          <joint name="right_thj1" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="right_visual" mesh="right_link_13.0"/>
-          <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="right_th_medial" pos="0 0 0.0177">
-            <joint name="right_thj2" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_visual" mesh="right_link_14.0"/>
-            <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="right_th_distal" pos="0 0 0.0514">
-              <joint name="right_thj3" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_visual" mesh="right_link_15.0"/>
-              <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
-                <geom name="right_thumb_collision" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -408,112 +400,104 @@
       <joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link"/>
-      <geom name="left_palm_collision" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_left_palm_0" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="left_rfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_rf_proximal" pos="0 0 0.0164">
-          <joint name="left_rfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_rf_medial" pos="0 0 0.054">
-            <joint name="left_rfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_ring_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_rf_distal" pos="0 0 0.0384">
-              <joint name="left_rfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_ring_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_mf_base" pos="0 0 0.0007">
-        <joint name="left_mfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_mf_proximal" pos="0 0 0.0164">
-          <joint name="left_mfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_mf_medial" pos="0 0 0.054">
-            <joint name="left_mfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_middle_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_mf_distal" pos="0 0 0.0384">
-              <joint name="left_mfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_middle_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="left_ffj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_ff_proximal" pos="0 0 0.0164">
-          <joint name="left_ffj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_index_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_ff_medial" pos="0 0 0.054">
-            <joint name="left_ffj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_index_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_ff_distal" pos="0 0 0.0384">
-              <joint name="left_ffj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_index_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
-        <joint name="left_thj0" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
+        <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
         <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
-        <geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
-          <joint name="left_thj1" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="left_visual" mesh="left_link_13.0"/>
-          <geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="left_th_medial" pos="0 0 0.0177">
-            <joint name="left_thj2" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_visual" mesh="left_link_14.0"/>
-            <geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="left_th_distal" pos="0 0 0.0514">
-              <joint name="left_thj3" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <geom class="left_visual" mesh="left_link_15.0"/>
-              <geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
-                <geom name="left_thumb_collision" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -521,7 +505,7 @@
       </body>
     </body>
     <body name="right_object">
-      <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
       <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
       <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
       <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
@@ -532,13 +516,13 @@
       <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.51175 0.464024 0.2359" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" size="0.01" 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"/>
@@ -565,7 +549,7 @@
       <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="left_object" gravcomp="1">
-      <joint name="left_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="1" frictionloss="1"/>
+      <joint name="left_object_joint" type="free" armature="1" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
@@ -597,187 +581,253 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_0" name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_1" name="right_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_2" name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_thumb_collision" geom2="right_object_5" name="left_thumb_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
+    <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"/>
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+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
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+    <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_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"/>
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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_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_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_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_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" 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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" 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_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_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_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_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_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="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_thumb_0" name="collision_hand_right_middle_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
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+    <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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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+    <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_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_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_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_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_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="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" 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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" 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_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_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_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_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_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_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_left_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_index_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
   </contact>
 
   <equality>
@@ -806,43 +856,43 @@
     <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
     <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
     <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
-    <general name="right_ffa0" class="right_base" joint="right_ffj0"/>
-    <general name="right_ffa1" class="right_proximal" joint="right_ffj1"/>
-    <general name="right_ffa2" class="right_medial" joint="right_ffj2"/>
-    <general name="right_ffa3" class="right_distal" joint="right_ffj3"/>
-    <general name="right_mfa0" class="right_base" joint="right_mfj0"/>
-    <general name="right_mfa1" class="right_proximal" joint="right_mfj1"/>
-    <general name="right_mfa2" class="right_medial" joint="right_mfj2"/>
-    <general name="right_mfa3" class="right_distal" joint="right_mfj3"/>
-    <general name="right_rfa0" class="right_base" joint="right_rfj0"/>
-    <general name="right_rfa1" class="right_proximal" joint="right_rfj1"/>
-    <general name="right_rfa2" class="right_medial" joint="right_rfj2"/>
-    <general name="right_rfa3" class="right_distal" joint="right_rfj3"/>
-    <general name="right_tha0" class="right_thumb_base" joint="right_thj0"/>
-    <general name="right_tha1" class="right_thumb_proximal" joint="right_thj1"/>
-    <general name="right_tha2" class="right_thumb_medial" joint="right_thj2"/>
-    <general name="right_tha3" class="right_thumb_distal" joint="right_thj3"/>
+    <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
+    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
+    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
+    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
+    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
+    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
+    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
+    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
+    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
+    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
+    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
+    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
+    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
+    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
+    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
+    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
     <general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
     <general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
     <general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
     <general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
     <general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
     <general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
-    <general name="left_rfa0" class="left_base" joint="left_rfj0"/>
-    <general name="left_rfa1" class="left_proximal" joint="left_rfj1"/>
-    <general name="left_rfa2" class="left_medial" joint="left_rfj2"/>
-    <general name="left_rfa3" class="left_distal" joint="left_rfj3"/>
-    <general name="left_mfa0" class="left_base" joint="left_mfj0"/>
-    <general name="left_mfa1" class="left_proximal" joint="left_mfj1"/>
-    <general name="left_mfa2" class="left_medial" joint="left_mfj2"/>
-    <general name="left_mfa3" class="left_distal" joint="left_mfj3"/>
-    <general name="left_ffa0" class="left_base" joint="left_ffj0"/>
-    <general name="left_ffa1" class="left_proximal" joint="left_ffj1"/>
-    <general name="left_ffa2" class="left_medial" joint="left_ffj2"/>
-    <general name="left_ffa3" class="left_distal" joint="left_ffj3"/>
-    <general name="left_tha0" class="left_thumb_base" joint="left_thj0"/>
-    <general name="left_tha1" class="left_thumb_proximal" joint="left_thj1"/>
-    <general name="left_tha2" class="left_thumb_medial" joint="left_thj2"/>
-    <general name="left_tha3" class="left_thumb_distal" joint="left_thj3"/>
+    <general name="left_rfa0" class="left_base" joint="left_ring_base_joint"/>
+    <general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint"/>
+    <general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint"/>
+    <general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint"/>
+    <general name="left_mfa0" class="left_base" joint="left_middle_base_joint"/>
+    <general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint"/>
+    <general name="left_mfa2" class="left_medial" joint="left_middle_medial_joint"/>
+    <general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint"/>
+    <general name="left_ffa0" class="left_base" joint="left_index_base_joint"/>
+    <general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint"/>
+    <general name="left_ffa2" class="left_medial" joint="left_index_medial_joint"/>
+    <general name="left_ffa3" class="left_distal" joint="left_index_distal_joint"/>
+    <general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint"/>
+    <general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint"/>
+    <general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint"/>
+    <general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint"/>
   </actuator>
 </mujoco>
diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/task_info.json b/processed/gigahand/allegro/bimanual/p52-instrument/task_info.json
index e45cb08c0cf12f166299aefd325c19b340890c84..5bfb429d9ed57d9a7a59c6a1b409f64accfdf0f2 100644
--- a/processed/gigahand/allegro/bimanual/p52-instrument/task_info.json
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/task_info.json
@@ -6,5 +6,6 @@
   "data_id": 34,
   "right_object_mesh_dir": "processed/gigahand/assets/objects/p52-instrument",
   "left_object_mesh_dir": null,
+  "ref_dt": 0.02,
   "right_object_convex_dir": "processed/gigahand/assets/objects/p52-instrument/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/allegro/bimanual/summary.csv b/processed/gigahand/allegro/bimanual/summary.csv
index eaa38d92d6def18003645f8788a92c5d5b9a084b..44621725b2664562ddb2eb22a8d1f890a357ac9a 100644
--- a/processed/gigahand/allegro/bimanual/summary.csv
+++ b/processed/gigahand/allegro/bimanual/summary.csv
@@ -1,4 +1,33 @@
-task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,data_type,pos_err_threshold,quat_err_threshold,timestamp,data_id,obj_pos_err,obj_quat_err,success
-p44-dog,1,1,1.0,0.0452994682057118,0.0,0.10801519692010961,0.0,gigahand,allegro,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,4.0,0.0452994682057118,0.10801519692010961,True
-p52-instrument,1,1,1.0,0.03774167362745931,0.0,0.08407248560538537,0.0,gigahand,allegro,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,34.0,0.03774167362745931,0.08407248560538537,True
-p36-tea,1,0,0.0,0.11702017406439635,0.0,0.5724960064982507,0.0,gigahand,allegro,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,10.0,0.11702017406439635,0.5724960064982507,False
+dataset,robot_type,embodiment_type,data_type,task,data_id,obj_pos_err,obj_quat_err,success,pos_err_threshold,quat_err_threshold,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,timestamp
+gigahand,allegro,bimanual,mjwp,p52-instrument,3,0.0290616670333343,0.1161206554495706,True,0.1,0.6,1,1,1.0,0.0290616670333343,0.0,0.1161206554495706,0.0,2026-01-27 17:29:29
+gigahand,allegro,bimanual,mjwp,p52-instrument,4,0.0266670538201965,0.1151894390791026,True,0.1,0.6,1,1,1.0,0.0266670538201965,0.0,0.1151894390791026,0.0,2026-01-27 17:29:29
+gigahand,allegro,bimanual,mjwp,p52-instrument,1,0.0284862728946166,0.1187905049403017,True,0.1,0.6,1,1,1.0,0.0284862728946166,0.0,0.1187905049403017,0.0,2026-01-27 17:29:29
+gigahand,allegro,bimanual,mjwp,p52-instrument,0,0.0306315118687686,0.1185404358910583,True,0.1,0.6,1,1,1.0,0.0306315118687686,0.0,0.1185404358910583,0.0,2026-01-27 17:29:29
+gigahand,allegro,bimanual,mjwp,p52-instrument,34,0.0464908494616487,0.1794282802410164,True,0.1,0.6,1,1,1.0,0.0464908494616487,0.0,0.1794282802410164,0.0,2026-01-27 17:29:29
+gigahand,allegro,bimanual,mjwp,p52-instrument,2,0.0310425853724421,0.1136055875198406,True,0.1,0.6,1,1,1.0,0.0310425853724421,0.0,0.1136055875198406,0.0,2026-01-27 17:29:29
+gigahand,allegro,bimanual,mjwp,p36-tea,3,0.097920880898035,0.5130939647343042,True,0.1,0.6,1,1,1.0,0.097920880898035,0.0,0.5130939647343042,0.0,2026-01-27 17:29:29
+gigahand,allegro,bimanual,mjwp,p36-tea,4,0.0247868235642578,0.1954074412141222,True,0.1,0.6,1,1,1.0,0.0247868235642578,0.0,0.1954074412141222,0.0,2026-01-27 17:29:29
+gigahand,allegro,bimanual,mjwp,p36-tea,1,0.0248625659677304,0.2695514231442196,True,0.1,0.6,1,1,1.0,0.0248625659677304,0.0,0.2695514231442196,0.0,2026-01-27 17:29:29
+gigahand,allegro,bimanual,mjwp,p36-tea,10,0.0292130045359795,0.3901931330825953,True,0.1,0.6,1,1,1.0,0.0292130045359795,0.0,0.3901931330825953,0.0,2026-01-27 17:29:29
+gigahand,allegro,bimanual,mjwp,p36-tea,0,0.031536406278049,0.2504177025895576,True,0.1,0.6,1,1,1.0,0.031536406278049,0.0,0.2504177025895576,0.0,2026-01-27 17:29:29
+gigahand,allegro,bimanual,mjwp,p36-tea,2,0.1521283998624483,1.4806744344907867,False,0.1,0.6,1,0,0.0,0.1521283998624483,0.0,1.4806744344907867,0.0,2026-01-27 17:29:29
+gigahand,allegro,bimanual,mjwp,p44-dog,3,0.0451435983042929,0.0856313274630213,True,0.1,0.6,1,1,1.0,0.0451435983042929,0.0,0.0856313274630213,0.0,2026-01-27 17:29:29
+gigahand,allegro,bimanual,mjwp,p44-dog,4,0.0358450616516336,0.078399684087304,True,0.1,0.6,1,1,1.0,0.0358450616516336,0.0,0.078399684087304,0.0,2026-01-27 17:29:29
+gigahand,allegro,bimanual,mjwp,p44-dog,1,0.0379201951412999,0.0804713797926897,True,0.1,0.6,1,1,1.0,0.0379201951412999,0.0,0.0804713797926897,0.0,2026-01-27 17:29:29
+gigahand,allegro,bimanual,mjwp,p44-dog,0,0.0356779960652517,0.0702871015846841,True,0.1,0.6,1,1,1.0,0.0356779960652517,0.0,0.0702871015846841,0.0,2026-01-27 17:29:29
+gigahand,allegro,bimanual,mjwp,p44-dog,2,0.0430123676853376,0.0892579838860334,True,0.1,0.6,1,1,1.0,0.0430123676853376,0.0,0.0892579838860334,0.0,2026-01-27 17:29:29
+gigahand,allegro,bimanual,mjwp,p52-instrument,0,0.0306315118687686,0.11854043589105838,True,0.1,0.5,1,1,1.0,0.0306315118687686,0.0,0.11854043589105838,0.0,2026-01-28 14:24:07
+gigahand,allegro,bimanual,mjwp,p52-instrument,1,0.02848627289461668,0.11879050494030173,True,0.1,0.5,1,1,1.0,0.02848627289461668,0.0,0.11879050494030173,0.0,2026-01-28 14:24:07
+gigahand,allegro,bimanual,mjwp,p52-instrument,2,0.03104258537244218,0.11360558751984068,True,0.1,0.5,1,1,1.0,0.03104258537244218,0.0,0.11360558751984068,0.0,2026-01-28 14:24:07
+gigahand,allegro,bimanual,mjwp,p52-instrument,3,0.02906166703333436,0.11612065544957068,True,0.1,0.5,1,1,1.0,0.02906166703333436,0.0,0.11612065544957068,0.0,2026-01-28 14:24:07
+gigahand,allegro,bimanual,mjwp,p52-instrument,4,0.026667053820196563,0.11518943907910263,True,0.1,0.5,1,1,1.0,0.026667053820196563,0.0,0.11518943907910263,0.0,2026-01-28 14:24:07
+gigahand,allegro,bimanual,mjwp,p36-tea,0,0.03153640627804901,0.25041770258955764,True,0.1,0.5,1,1,1.0,0.03153640627804901,0.0,0.25041770258955764,0.0,2026-01-28 14:24:07
+gigahand,allegro,bimanual,mjwp,p36-tea,1,0.024862565967730475,0.26955142314421965,True,0.1,0.5,1,1,1.0,0.024862565967730475,0.0,0.26955142314421965,0.0,2026-01-28 14:24:07
+gigahand,allegro,bimanual,mjwp,p36-tea,2,0.02946954269696917,0.2620762695254323,True,0.1,0.5,1,1,1.0,0.02946954269696917,0.0,0.2620762695254323,0.0,2026-01-28 14:24:07
+gigahand,allegro,bimanual,mjwp,p36-tea,3,0.04742267420354169,0.4300844855567926,True,0.1,0.5,1,1,1.0,0.04742267420354169,0.0,0.4300844855567926,0.0,2026-01-28 14:24:07
+gigahand,allegro,bimanual,mjwp,p36-tea,4,0.02478682356425784,0.19540744121412223,True,0.1,0.5,1,1,1.0,0.02478682356425784,0.0,0.19540744121412223,0.0,2026-01-28 14:24:07
+gigahand,allegro,bimanual,mjwp,p44-dog,0,0.03567799606525174,0.07028710158468417,True,0.1,0.5,1,1,1.0,0.03567799606525174,0.0,0.07028710158468417,0.0,2026-01-28 14:24:07
+gigahand,allegro,bimanual,mjwp,p44-dog,1,0.037920195141299934,0.08047137979268978,True,0.1,0.5,1,1,1.0,0.037920195141299934,0.0,0.08047137979268978,0.0,2026-01-28 14:24:07
+gigahand,allegro,bimanual,mjwp,p44-dog,2,0.043012367685337664,0.08925798388603347,True,0.1,0.5,1,1,1.0,0.043012367685337664,0.0,0.08925798388603347,0.0,2026-01-28 14:24:07
+gigahand,allegro,bimanual,mjwp,p44-dog,3,0.04514359830429294,0.08563132746302134,True,0.1,0.5,1,1,1.0,0.04514359830429294,0.0,0.08563132746302134,0.0,2026-01-28 14:24:07
+gigahand,allegro,bimanual,mjwp,p44-dog,4,0.0358450616516336,0.07839968408730402,True,0.1,0.5,1,1,1.0,0.0358450616516336,0.0,0.07839968408730402,0.0,2026-01-28 14:24:07
diff --git a/processed/gigahand/assets/objects/p36-tea/convex/1.obj b/processed/gigahand/assets/objects/p36-tea/convex/1.obj
index b303731530e641a35529d864151d53eb8d56a3aa..cd0b7bf91076c8dbdd82e394959b79778b14b153 100644
--- a/processed/gigahand/assets/objects/p36-tea/convex/1.obj
+++ b/processed/gigahand/assets/objects/p36-tea/convex/1.obj
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fe3abd26c3cf862c40efb480a41e96b25ab9557d3eb670542b4d840c921922fe
-size 1838
+oid sha256:271e401990ec291889ec862ef847d7a122477140acc71adfff4665a34ac0d43a
+size 1801
diff --git a/processed/gigahand/assets/objects/p36-tea/convex/10.obj b/processed/gigahand/assets/objects/p36-tea/convex/10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f20bf603fc3a3a3240a09215d2a6b1074985504
--- /dev/null
+++ b/processed/gigahand/assets/objects/p36-tea/convex/10.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ae38132b026ce4a842426aa1159b386e6bd85b70fb485d2938d4afc81a22341
+size 1644
diff --git a/processed/gigahand/assets/objects/p36-tea/convex/11.obj b/processed/gigahand/assets/objects/p36-tea/convex/11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c255a66faaa940b2386e1d6a79867fe75bd4fa1
--- /dev/null
+++ b/processed/gigahand/assets/objects/p36-tea/convex/11.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d736a001a33810cfcbaf0ab01f6101d4621951b5d30ebf796483fc8881eeebe9
+size 1797
diff --git a/processed/gigahand/assets/objects/p36-tea/convex/12.obj b/processed/gigahand/assets/objects/p36-tea/convex/12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89d75a7525fffad8196f675ca9ed7015523e9c5d
--- /dev/null
+++ b/processed/gigahand/assets/objects/p36-tea/convex/12.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68ab22ca85cab7757cd5d531928dce8e1074c7873d49de3c84605ba76064c85d
+size 1820
diff --git a/processed/gigahand/assets/objects/p36-tea/convex/13.obj b/processed/gigahand/assets/objects/p36-tea/convex/13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbf18b52fcc201751f16ebc275f017e77594bd94
--- /dev/null
+++ b/processed/gigahand/assets/objects/p36-tea/convex/13.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:147373918f8909a7fbfc28f71666a6a8f6090e797ee51db03baf263535ef0152
+size 1825
diff --git a/processed/gigahand/assets/objects/p36-tea/convex/14.obj b/processed/gigahand/assets/objects/p36-tea/convex/14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6b936725ebd9e77f42899bc1de23e28fbf58328
--- /dev/null
+++ b/processed/gigahand/assets/objects/p36-tea/convex/14.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac8403b8d7dcfb56f1f293ca83d6b328ade674899854e4b9be2e56115fea30c7
+size 1754
diff --git a/processed/gigahand/assets/objects/p36-tea/convex/15.obj b/processed/gigahand/assets/objects/p36-tea/convex/15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e95577b13cc90dee5f1b55de8fccbef15365e1cd
--- /dev/null
+++ b/processed/gigahand/assets/objects/p36-tea/convex/15.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c5ffafd85d429ff74b52c86a7ea4a125eaab36006571b7bc50546f928c54a91
+size 1755
diff --git a/processed/gigahand/assets/objects/p36-tea/convex/3.obj b/processed/gigahand/assets/objects/p36-tea/convex/3.obj
index 49589eacbb68295896e9daa03612a77ea73535ad..86a766b4f0e59c4cda104583e6e4611abe8e205e 100644
--- a/processed/gigahand/assets/objects/p36-tea/convex/3.obj
+++ b/processed/gigahand/assets/objects/p36-tea/convex/3.obj
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1da455edd6281297b96f40de1b80aadb745323cfac3bccd12b97e94796268cf8
-size 1799
+oid sha256:d785ab87978b790d32da58f241ed2821ec3c6f85550c5ccb293c88661e9d7fa8
+size 1839
diff --git a/processed/gigahand/assets/objects/p36-tea/convex/4.obj b/processed/gigahand/assets/objects/p36-tea/convex/4.obj
index e5418591214ecd6b800876ddfe282b30b83fc793..d5094ead143450433557e6e3c407844b34e65a89 100644
--- a/processed/gigahand/assets/objects/p36-tea/convex/4.obj
+++ b/processed/gigahand/assets/objects/p36-tea/convex/4.obj
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2bc3731ddebdd08213671473b061e6da139ed3fa08aa97b55409a7bc63f2a21c
-size 1819
+oid sha256:44f6e37ed09897b7b45d8f31c21d9050a61be1188d1c360b7cbea880e0d75005
+size 1798
diff --git a/processed/gigahand/assets/objects/p36-tea/convex/7.obj b/processed/gigahand/assets/objects/p36-tea/convex/7.obj
index 8e6fa29ce11bb8528fc5284425b419fc1f4873f3..bd061cfa38fbe1a84273aaba8a5c1e561b7c4936 100644
--- a/processed/gigahand/assets/objects/p36-tea/convex/7.obj
+++ b/processed/gigahand/assets/objects/p36-tea/convex/7.obj
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7335e3b4547502533941952e91fae7f0fe8f13b36f04636a0af1374dccddfc1b
-size 1812
+oid sha256:d5c07ec601a295e3cd5f13de439327b29f94fbc46b520f2937049b0a594f5bae
+size 1799
diff --git a/processed/gigahand/assets/objects/p36-tea/convex/8.obj b/processed/gigahand/assets/objects/p36-tea/convex/8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ad6caac85f426eb486174e2fbbd6805be88bac2
--- /dev/null
+++ b/processed/gigahand/assets/objects/p36-tea/convex/8.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15e11b514465cf2178f71282af83b45fb0e4ae88e2c477c57fad7b059c1e1697
+size 1809
diff --git a/processed/gigahand/assets/objects/p36-tea/convex/9.obj b/processed/gigahand/assets/objects/p36-tea/convex/9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b73871d8eb64062302879fac3b973a5a135bff3
--- /dev/null
+++ b/processed/gigahand/assets/objects/p36-tea/convex/9.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41a50f3afcb4f59176c15a6b9e267779942247fca305a47a97cee6306a177cad
+size 1797
diff --git a/processed/gigahand/assets/robots/ability/MUJOCO_LOG.TXT b/processed/gigahand/assets/robots/ability/MUJOCO_LOG.TXT
new file mode 100644
index 0000000000000000000000000000000000000000..1979d57a7d3ce3f419f3156ca759c6ab5edce168
--- /dev/null
+++ b/processed/gigahand/assets/robots/ability/MUJOCO_LOG.TXT
@@ -0,0 +1,54 @@
+Mon Jan 26 18:05:28 2026
+ERROR: could not initialize GLFW
+
+Tue Jan 27 09:27:39 2026
+ERROR: could not initialize GLFW
+
+Tue Jan 27 13:45:26 2026
+WARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 0.0140.
+
+Tue Jan 27 13:46:02 2026
+WARNING: Nan, Inf or huge value in QACC at DOF 1. The simulation is unstable. Time = 0.0400.
+
+Tue Jan 27 13:46:08 2026
+WARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 0.0200.
+
+Tue Jan 27 13:46:09 2026
+WARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 0.0200.
+
+Tue Jan 27 13:46:10 2026
+WARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 0.0200.
+
+Tue Jan 27 13:46:15 2026
+WARNING: Nan, Inf or huge value in QACC at DOF 1. The simulation is unstable. Time = 0.0260.
+
+Tue Jan 27 13:46:16 2026
+WARNING: Nan, Inf or huge value in QACC at DOF 1. The simulation is unstable. Time = 0.0260.
+
+Tue Jan 27 13:46:17 2026
+WARNING: Nan, Inf or huge value in QACC at DOF 1. The simulation is unstable. Time = 0.0260.
+
+Tue Jan 27 13:46:18 2026
+WARNING: Nan, Inf or huge value in QACC at DOF 1. The simulation is unstable. Time = 0.0260.
+
+Tue Jan 27 13:46:18 2026
+WARNING: Nan, Inf or huge value in QACC at DOF 1. The simulation is unstable. Time = 0.0260.
+
+Tue Jan 27 13:46:18 2026
+WARNING: Nan, Inf or huge value in QACC at DOF 1. The simulation is unstable. Time = 0.0260.
+
+Tue Jan 27 13:46:21 2026
+WARNING: Nan, Inf or huge value in QACC at DOF 1. The simulation is unstable. Time = 0.0260.
+
+Tue Jan 27 13:46:27 2026
+WARNING: Nan, Inf or huge value in QACC at DOF 2. The simulation is unstable. Time = 0.2340.
+
+Tue Jan 27 13:46:28 2026
+WARNING: Nan, Inf or huge value in QACC at DOF 2. The simulation is unstable. Time = 0.2340.
+
+Tue Jan 27 13:46:29 2026
+WARNING: Nan, Inf or huge value in QACC at DOF 2. The simulation is unstable. Time = 0.2340.
+
+Tue Jan 27 13:46:31 2026
+WARNING: Nan, Inf or huge value in QACC at DOF 2. The simulation is unstable. Time = 0.2340.
+
diff --git a/processed/gigahand/assets/robots/ability/left.xml b/processed/gigahand/assets/robots/ability/left.xml
index 0e1b8b777c7cc4b1b78c63a2a0c2bfec7cc329d5..ead32f5a0e63ae3743f1b4d7192d7ddccfa019de 100644
--- a/processed/gigahand/assets/robots/ability/left.xml
+++ b/processed/gigahand/assets/robots/ability/left.xml
@@ -5,9 +5,12 @@
     <!-- disable all contacts and use explicit collision pairs -->
     <geom density="800" condim="1" contype="0" conaffinity="0" />
     <!-- with this setting, the response time is around 1s -->
-    <position kp="300" dampratio="1.0" inheritrange="1" />
+    <position kp="100" dampratio="1.0" inheritrange="1" />
     <joint damping="0.0" armature="1.0" frictionloss="0.0" />
-    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+    <site size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
+    <default class="left_base">
+      <position kp="1000" dampratio="1.0" inheritrange="1" />
+    </default>
   </default>
 
   <asset>
@@ -107,12 +110,12 @@
                       quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh"
                       mesh="left_thumb-F2_C" group="3" />
                     <geom name="collision_hand_left_thumb_0" type="capsule" size="0.007"
-                      fromto="0 0 0 0.0651867 0.0233402 0.00393483" contype="0" conaffinity="0"
+                      fromto="0 0 0 0.059 0.025 0.00" contype="0" conaffinity="0"
                       group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483" />
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483" />
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483" />
+                    <site name="left_thumb_tip" pos="0.059 0.025 0.00" />
+                    <site name="track_hand_left_thumb_tip" pos="0.059 0.025 0.00" />
+                    <site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0.00" />
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706"
@@ -156,9 +159,9 @@
                     <geom name="collision_hand_left_index_0" type="capsule" size="0.007"
                       fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="left_index_tip" pos="0.03 -0.016 0" />
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0" />
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0" />
+                    <site name="left_index_tip" pos="0.025 -0.022 0" />
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0" />
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0" />
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634"
@@ -197,9 +200,9 @@
                     <geom name="collision_hand_left_middle_0" type="capsule" size="0.007"
                       fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="left_middle_tip" pos="0.03 -0.016 0" />
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0" />
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0" />
+                    <site name="left_middle_tip" pos="0.025 -0.022 0" />
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0" />
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0" />
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038"
@@ -239,9 +242,9 @@
                     <geom name="collision_hand_left_ring_0" type="capsule" size="0.007"
                       fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="left_ring_tip" pos="0.03 -0.016 0" />
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0" />
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0" />
+                    <site name="left_ring_tip" pos="0.025 -0.022 0" />
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0" />
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0" />
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346"
@@ -280,9 +283,9 @@
                     <geom name="collision_hand_left_pinky_0" type="capsule" size="0.007"
                       fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0" />
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0" />
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0" />
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0" />
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0" />
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0" />
                   </body>
                 </body>
               </body>
@@ -294,12 +297,12 @@
   </worldbody>
   <actuator>
     <!-- Global position and rotation joints -->
-    <position name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" kp="1000" />
-    <position name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" kp="1000" />
-    <position name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" kp="1000" />
-    <position name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" kp="1000" />
-    <position name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" kp="1000" />
-    <position name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" kp="1000" />
+    <position class="left_base" name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" />
+    <position class="left_base" name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" />
+    <position class="left_base" name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" />
+    <position class="left_base" name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" />
+    <position class="left_base" name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" />
+    <position class="left_base" name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" />
 
     <!-- Thumb joints -->
     <position name="left_thumb_q1_position" joint="left_thumb_q1" />
@@ -322,4 +325,4 @@
     <position name="left_pinky_q2_position" joint="left_pinky_q2" />
 
   </actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/processed/gigahand/assets/robots/ability/right.xml b/processed/gigahand/assets/robots/ability/right.xml
index 0c6063fd9db04835eeea344111680d69f1b2c362..7971f0ec8088bf981984a3b67d9ec9cc11c49551 100644
--- a/processed/gigahand/assets/robots/ability/right.xml
+++ b/processed/gigahand/assets/robots/ability/right.xml
@@ -5,17 +5,20 @@
     <!-- disable all contacts and use explicit collision pairs -->
     <geom density="800" condim="1" contype="0" conaffinity="0" />
     <!-- with this setting, the response time is around 1s -->
-    <position kp="300" dampratio="1.0" inheritrange="1" />
+    <position kp="100" dampratio="1.0" inheritrange="1" />
     <joint damping="0.0" armature="1.0" frictionloss="0.0" />
-    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+    <site size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
+    <default class="right_base">
+      <position kp="1000" dampratio="1.0" inheritrange="1" />
+    </default>
   </default>
 
   <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+    <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512"
       height="3072" />
-    <texture type="2d" name="right_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="300" />
+    <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1"
+      rgb2="1 1 1"
+      markrgb="1 1 1" width="300" height="300" />
     <material name="right_groundplane" texture="right_groundplane" texuniform="true"
       texrepeat="5 5"
       reflectance="0.2" />
@@ -103,12 +106,12 @@
                       pos="0.0651867 0.0233402 -0.00393483" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" /> -->
                     <geom name="collision_hand_right_thumb_0" type="capsule" size="0.007"
-                      fromto="0 0 0 0.0651867 0.0233402 -0.00393483" contype="0" conaffinity="0"
+                      fromto="0 0 0 0.059 0.025 0.00" contype="0" conaffinity="0"
                       group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483" />
-                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483" />
-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483" />
+                    <site name="right_thumb_tip" pos="0.059 0.025 0.00" />
+                    <site name="track_hand_right_thumb_tip" pos="0.059 0.025 0.00" />
+                    <site name="trace_hand_right_thumb_tip" pos="0.059 0.025 0.00" />
                   </body>
                 </body>
                 <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706"
@@ -147,9 +150,9 @@
                     <geom name="collision_hand_right_index_0" type="capsule" size="0.007"
                       fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="right_index_tip" pos="0.03 -0.016 0" />
-                    <site name="track_hand_right_index_tip" pos="0.03 -0.016 0" />
-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0" />
+                    <site name="right_index_tip" pos="0.025 -0.022 0" />
+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0" />
+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0" />
                   </body>
                 </body>
                 <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634"
@@ -188,9 +191,9 @@
                     <geom name="collision_hand_right_middle_0" type="capsule" size="0.007"
                       fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="right_middle_tip" pos="0.03 -0.016 0" />
-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0" />
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0" />
+                    <site name="right_middle_tip" pos="0.025 -0.022 0" />
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0" />
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0" />
                   </body>
                 </body>
                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038"
@@ -229,9 +232,9 @@
                     <geom name="collision_hand_right_ring_0" type="capsule" size="0.007"
                       fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="right_ring_tip" pos="0.03 -0.016 0" />
-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0" />
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0" />
+                    <site name="right_ring_tip" pos="0.025 -0.022 0" />
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0" />
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0" />
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346"
@@ -270,9 +273,9 @@
                     <geom name="collision_hand_right_pinky_0" type="capsule" size="0.007"
                       fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0" />
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0" />
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0" />
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0" />
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0" />
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0" />
                   </body>
                 </body>
               </body>
@@ -284,12 +287,12 @@
   </worldbody>
   <actuator>
     <!-- Global position and rotation joints -->
-    <position name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" kp="1000" />
-    <position name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" kp="1000" />
-    <position name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" kp="1000" />
-    <position name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" kp="1000" />
-    <position name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" kp="1000" />
-    <position name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" kp="1000" />
+    <position class="right_base" name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" />
+    <position class="right_base" name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" />
+    <position class="right_base" name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" />
+    <position class="right_base" name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" />
+    <position class="right_base" name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" />
+    <position class="right_base" name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" />
 
     <!-- Thumb joints -->
     <position name="right_thumb_q1_position" joint="right_thumb_q1" />
@@ -312,4 +315,4 @@
     <position name="right_pinky_q2_position" joint="right_pinky_q2" />
 
   </actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/processed/gigahand/assets/robots/allegro/MUJOCO_LOG.TXT b/processed/gigahand/assets/robots/allegro/MUJOCO_LOG.TXT
index d6fb0e5413262109f2f4173c653ca82fb180d490..7718374d02ec4838c063bea197e8bdf608753aa3 100644
--- a/processed/gigahand/assets/robots/allegro/MUJOCO_LOG.TXT
+++ b/processed/gigahand/assets/robots/allegro/MUJOCO_LOG.TXT
@@ -1,3 +1,6 @@
-Sun Aug 17 16:09:37 2025
+Mon Jan 26 18:47:42 2026
+ERROR: could not initialize GLFW
+
+Tue Jan 27 14:14:47 2026
 ERROR: could not initialize GLFW
 
diff --git a/processed/gigahand/assets/robots/allegro/left.xml b/processed/gigahand/assets/robots/allegro/left.xml
index 8dc535e03fa9c04355acdb1001ae89a62e68427f..59757c7551cdb9f0a187bd795b3767f45193faf9 100644
--- a/processed/gigahand/assets/robots/allegro/left.xml
+++ b/processed/gigahand/assets/robots/allegro/left.xml
@@ -8,7 +8,7 @@
 
   <default>
     <default class="mimic_left">
-      <site size="0.015" type="sphere" rgba="1 0 0 1" group="3" />
+      <site size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
     </default>
     <default class="allegro_left">
       <joint axis="0 1 0" armature="1.0" damping="0.0" />
@@ -80,7 +80,7 @@
 
       <default class="left_base_slide">
         <joint type="slide" axis="0 1 0" range="-3.0 3.0" />
-        <position kp="1000" ctrlrange="-3.0 3.0" />
+        <position kp="3000" ctrlrange="-3.0 3.0" />
       </default>
       <default class="left_base_hinge">
         <joint axis="0 0 1" range="-6.28 6.28" />
@@ -178,9 +178,9 @@
               <joint name="left_ring_distal_joint" class="left_distal" />
               <geom class="left_distal_visual" />
               <body name="left_rf_tip">
-                <site name="left_ring_tip" pos="0 0 0.019" class="mimic_left" />
-                <site name="track_hand_left_ring_tip" pos="0 0 0.019" class="mimic_left" />
-                <site name="trace_left_ring_tip" pos="0 0 0.019" class="mimic_left" />
+                <site name="left_ring_tip" pos="0.01 0.0 0.029" class="mimic_left" />
+                <site name="track_hand_left_ring_tip" pos="0.01 0.0 0.029" class="mimic_left" />
+                <site name="trace_left_ring_tip" pos="0.01 0.0 0.029" class="mimic_left" />
                 <geom class="left_fingertip_visual" />
                 <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" />
               </body>
@@ -204,9 +204,9 @@
               <joint name="left_middle_distal_joint" class="left_distal" />
               <geom class="left_distal_visual" />
               <body name="left_mf_tip">
-                <site name="left_middle_tip" pos="0 0 0.019" class="mimic_left" />
-                <site name="track_hand_left_middle_tip" pos="0 0 0.019" class="mimic_left" />
-                <site name="trace_left_middle_tip" pos="0 0 0.019" class="mimic_left" />
+                <site name="left_middle_tip" pos="0.01 0.0 0.029" class="mimic_left" />
+                <site name="track_hand_left_middle_tip" pos="0.01 0.0 0.029" class="mimic_left" />
+                <site name="trace_left_middle_tip" pos="0.01 0.0 0.029" class="mimic_left" />
                 <geom class="left_fingertip_visual" />
                 <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" />
               </body>
@@ -230,9 +230,9 @@
               <joint name="left_index_distal_joint" class="left_distal" />
               <geom class="left_distal_visual" />
               <body name="left_ff_tip">
-                <site name="left_index_tip" pos="0 0 0.019" class="mimic_left" />
-                <site name="track_hand_left_index_tip" pos="0 0 0.019" class="mimic_left" />
-                <site name="trace_left_index_tip" pos="0 0 0.019" class="mimic_left" />
+                <site name="left_index_tip" pos="0.01 0.0 0.029" class="mimic_left" />
+                <site name="track_hand_left_index_tip" pos="0.01 0.0 0.029" class="mimic_left" />
+                <site name="trace_left_index_tip" pos="0.01 0.0 0.029" class="mimic_left" />
                 <geom class="left_fingertip_visual" />
                 <geom name="collision_hand_left_index_0" class="left_fingertip_collision" />
               </body>
@@ -257,9 +257,9 @@
               <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" />
               <geom class="left_visual" mesh="left_link_15.0" />
               <body name="left_th_tip">
-                <site name="left_thumb_tip" pos="0 0 0.035" class="mimic_left" />
-                <site name="track_hand_left_thumb_tip" pos="0 0 0.035" class="mimic_left" />
-                <site name="trace_left_thumb_tip" pos="0 0 0.035" class="mimic_left" />
+                <site name="left_thumb_tip" pos="0.01 0.0 0.039" class="mimic_left" />
+                <site name="track_hand_left_thumb_tip" pos="0.01 0.0 0.039" class="mimic_left" />
+                <site name="trace_left_thumb_tip" pos="0.01 0.0 0.039" class="mimic_left" />
                 <geom class="left_thumbtip_visual" />
                 <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" />
               </body>
@@ -294,4 +294,4 @@
     <position name="left_tha2" joint="left_thumb_medial_joint" class="left_thumb_medial" />
     <position name="left_tha3" joint="left_thumb_distal_joint" class="left_thumb_distal" />
   </actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/processed/gigahand/assets/robots/allegro/right.xml b/processed/gigahand/assets/robots/allegro/right.xml
index 8b930dc3c84618cbc7e81801be2f4687ff4a6fbf..0059c569b593d986f74b0338000667a1cfbd4eb4 100644
--- a/processed/gigahand/assets/robots/allegro/right.xml
+++ b/processed/gigahand/assets/robots/allegro/right.xml
@@ -8,7 +8,7 @@
 
     <default>
         <default class="mimic_right">
-            <site size="0.015" type="sphere" rgba="1 0 0 1" group="3" />
+            <site size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
         </default>
         <default class="allegro_right">
             <joint axis="0 1 0" armature="1.0" damping="0.0" />
@@ -80,7 +80,7 @@
 
             <default class="right_base_slide">
                 <joint type="slide" axis="0 1 0" range="-3.0 3.0" />
-                <position kp="1000" ctrlrange="-3.0 3.0" />
+                <position kp="3000" ctrlrange="-3.0 3.0" />
             </default>
             <default class="right_base_hinge">
                 <joint axis="0 0 1" range="-6.28 6.28" />
@@ -145,11 +145,11 @@
     <asset>
         <material name="right_black" rgba="0.2 0.2 0.2 1" />
         <material name="right_white" rgba="0.9 0.9 0.9 1" />
-        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+        <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512"
             height="3072" />
-        <texture type="2d" name="right_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="300" />
+        <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1"
+            rgb2="1 1 1"
+            markrgb="1 1 1" width="300" height="300" />
         <material name="right_groundplane" texture="right_groundplane" texuniform="true"
             texrepeat="5 5"
             reflectance="0.2" />
@@ -201,10 +201,10 @@
                             <joint name="right_index_distal_joint" class="right_distal" />
                             <geom class="right_distal_visual" />
                             <body name="right_ff_tip">
-                                <site name="right_index_tip" pos="0 0 0.019" class="mimic_right" />
-                                <site name="track_hand_right_index_tip" pos="0 0 0.019"
+                                <site name="right_index_tip" pos="0.01 0.0 0.029" class="mimic_right" />
+                                <site name="track_hand_right_index_tip" pos="0.01 0.0 0.029"
                                     class="mimic_right" />
-                                <site name="trace_right_index_tip" pos="0 0 0.019"
+                                <site name="trace_right_index_tip" pos="0.01 0.0 0.029"
                                     class="mimic_right" />
                                 <geom class="right_fingertip_visual" />
                                 <geom name="collision_hand_right_index_0"
@@ -231,10 +231,10 @@
                             <joint name="right_middle_distal_joint" class="right_distal" />
                             <geom class="right_distal_visual" />
                             <body name="right_mf_tip">
-                                <site name="right_middle_tip" pos="0 0 0.019" class="mimic_right" />
-                                <site name="track_hand_right_middle_tip" pos="0 0 0.019"
+                                <site name="right_middle_tip" pos="0.01 0.0 0.029" class="mimic_right" />
+                                <site name="track_hand_right_middle_tip" pos="0.01 0.0 0.029"
                                     class="mimic_right" />
-                                <site name="trace_right_middle_tip" pos="0 0 0.019"
+                                <site name="trace_right_middle_tip" pos="0.01 0.0 0.029"
                                     class="mimic_right" />
                                 <geom class="right_fingertip_visual" />
                                 <geom name="collision_hand_right_middle_0"
@@ -261,10 +261,10 @@
                             <joint name="right_ring_distal_joint" class="right_distal" />
                             <geom class="right_distal_visual" />
                             <body name="right_rf_tip">
-                                <site name="right_ring_tip" pos="0 0 0.019" class="mimic_right" />
-                                <site name="track_hand_right_ring_tip" pos="0 0 0.019"
+                                <site name="right_ring_tip" pos="0.01 0.0 0.029" class="mimic_right" />
+                                <site name="track_hand_right_ring_tip" pos="0.01 0.0 0.029"
                                     class="mimic_right" />
-                                <site name="trace_right_ring_tip" pos="0 0 0.019"
+                                <site name="trace_right_ring_tip" pos="0.01 0.0 0.029"
                                     class="mimic_right" />
                                 <geom class="right_fingertip_visual" />
                                 <geom name="collision_hand_right_ring_0"
@@ -293,10 +293,10 @@
                             <geom name="collision_hand_right_thumb_1"
                                 class="right_thumb_distal_collision" />
                             <body name="right_th_tip">
-                                <site name="right_thumb_tip" pos="0 0 0.035" class="mimic_right" />
-                                <site name="track_hand_right_thumb_tip" pos="0 0 0.035"
+                                <site name="right_thumb_tip" pos="0.01 0.0 0.039" class="mimic_right" />
+                                <site name="track_hand_right_thumb_tip" pos="0.01 0.0 0.039"
                                     class="mimic_right" />
-                                <site name="trace_right_thumb_tip" pos="0 0 0.035"
+                                <site name="trace_right_thumb_tip" pos="0.01 0.0 0.039"
                                     class="mimic_right" />
                                 <geom class="right_thumbtip_visual" />
                                 <geom name="collision_hand_right_thumb_0"
@@ -333,4 +333,4 @@
         <position name="right_tha2" joint="right_thumb_medial_joint" class="right_thumb_medial" />
         <position name="right_tha3" joint="right_thumb_distal_joint" class="right_thumb_distal" />
     </actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/processed/gigahand/assets/robots/inspire/right.xml b/processed/gigahand/assets/robots/inspire/right.xml
index a8408083a77ca85471af9df6a6499100b868c30c..93188dbaaebb7ec374ba80249a9fa1690a373ee7 100644
--- a/processed/gigahand/assets/robots/inspire/right.xml
+++ b/processed/gigahand/assets/robots/inspire/right.xml
@@ -12,7 +12,7 @@
     <!-- with this setting, the response time is around 1s -->
     <position kp="300" dampratio="1.0" inheritrange="1" />
     <joint damping="0.0" armature="1.0" frictionloss="0.0" />
-    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+    <site size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
   </default>
 
 
@@ -23,14 +23,14 @@
   </visual>
 
   <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+    <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512"
       height="3072" />
-    <texture type="2d" name="right_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="300" />
+    <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1"
+      rgb2="1 1 1"
+      markrgb="1 1 1" width="300" height="300" />
     <material name="right_groundplane" texture="right_groundplane" texuniform="true"
       texrepeat="5 5"
-      reflectance="0.2" />
+      reflectance="1" />
     <mesh name="R_hand_base_link" content_type="model/stl" file="R_hand_base_link.STL" />
     <mesh name="Link11_R" content_type="model/stl" file="Link11_R.STL" />
     <mesh name="Link12_R" content_type="model/stl" file="Link12_R.STL" />
@@ -287,4 +287,4 @@
     <position name="right_pinky_intermediate_position" joint="right_pinky_intermediate_joint" />
 
   </actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/processed/gigahand/assets/robots/schunk/left.xml b/processed/gigahand/assets/robots/schunk/left.xml
index 27c51b487d9daa3b099caf81785cca888ae17fdd..2578025be56d465938c06f7636fd79cff4a77ace 100644
--- a/processed/gigahand/assets/robots/schunk/left.xml
+++ b/processed/gigahand/assets/robots/schunk/left.xml
@@ -7,7 +7,7 @@
     <!-- with this setting, the response time is around 1s -->
     <position kp="300" dampratio="1.0" inheritrange="1" />
     <joint damping="0.0" armature="1.0" frictionloss="0.0" />
-    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+    <site size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
   </default>
 
   <asset>
@@ -83,7 +83,7 @@
                       diaginertia="0.01796 0.016832 0.00408805" />
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0" />
                     <geom type="mesh" mesh="left_d11" />
-                    <geom name="collision_hand_left_thumb_2" type="capsule" size="0.01"
+                    <geom name="collision_hand_left_thumb_2" type="capsule" size="0.016"
                       fromto="0 0 0 0.055 0 0" rgba="0 1 0 1" group="3" />
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05"
@@ -91,18 +91,18 @@
                         diaginertia="0.00139495 0.00103 0.000885049" />
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0" />
                       <geom type="mesh" mesh="left_d12" />
-                      <geom name="collision_hand_left_thumb_1" type="capsule" size="0.008"
+                      <geom name="collision_hand_left_thumb_1" type="capsule" size="0.012"
                         fromto="0 0 0 0.03 0 0" rgba="0 1 0 1" group="3" />
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02"
                           diaginertia="2e-05 2e-05 1e-05" />
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0" />
                         <geom type="mesh" mesh="left_d13" />
-                        <geom name="collision_hand_left_thumb_0" type="capsule" size="0.008"
+                        <geom name="collision_hand_left_thumb_0" type="capsule" size="0.012"
                           fromto="0 0 0 0.02 0 0" rgba="0 1 0 1" group="3" />
-                        <site name="left_thumb_tip" pos="0.02 0 0" />
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0" />
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0" />
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0" />
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0" />
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0" />
                       </body>
                     </body>
                   </body>
@@ -143,11 +143,11 @@
                             diaginertia="2e-05 2e-05 1e-05" />
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395" />
                           <geom type="mesh" mesh="left_finger_tip" />
-                          <geom name="collision_hand_left_ring_0" type="sphere" size="0.01"
-                            rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
-                          <site name="left_ring_tip" pos="0.01 0 0.00" />
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0.00" />
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0.00" />
+                          <geom name="collision_hand_left_ring_0" type="capsule" size="0.008"
+                            rgba="0 1 0 1" group="3" fromto="0 0 0 0.015 0 0.00" />
+                          <site name="left_ring_tip" pos="0.01 0.007 0.00" />
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0.00" />
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0.00" />
                         </body>
                       </body>
                     </body>
@@ -179,11 +179,11 @@
                             diaginertia="2e-05 2e-05 1e-05" />
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971" />
                           <geom type="mesh" mesh="left_finger_tip" />
-                          <geom name="collision_hand_left_pinky_0" type="sphere" size="0.01"
-                            rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
-                          <site name="left_pinky_tip" pos="0.01 0 0.00" />
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0.00" />
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0.00" />
+                          <geom name="collision_hand_left_pinky_0" type="capsule" size="0.008"
+                            rgba="0 1 0 1" group="3" fromto="0 0 0 0.015 0 0.00" />
+                          <site name="left_pinky_tip" pos="0.01 0.007 0.00" />
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0.00" />
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0.00" />
                         </body>
                       </body>
                     </body>
@@ -219,11 +219,11 @@
                           diaginertia="2e-05 2e-05 1e-05" />
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394" />
                         <geom type="mesh" mesh="left_finger_tip" />
-                        <geom name="collision_hand_left_index_0" type="sphere" size="0.01"
-                          rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
-                        <site name="left_index_tip" pos="0.01 0 0.00" />
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0.00" />
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0.00" />
+                        <geom name="collision_hand_left_index_0" type="capsule" size="0.008"
+                          rgba="0 1 0 1" group="3" fromto="0 0 0 0.015 0 0.00" />
+                        <site name="left_index_tip" pos="0.01 0.007 0.00" />
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0.00" />
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0.00" />
                       </body>
                     </body>
                   </body>
@@ -252,11 +252,11 @@
                         diaginertia="2e-05 2e-05 1e-05" />
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334" />
                       <geom type="mesh" mesh="left_finger_tip" />
-                      <geom name="collision_hand_left_middle_0" type="sphere" size="0.01"
-                        rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
-                      <site name="left_middle_tip" pos="0.01 0 0.00" />
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0.00" />
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0.00" />
+                      <geom name="collision_hand_left_middle_0" type="capsule" size="0.008"
+                        rgba="0 1 0 1" group="3" fromto="0 0 0 0.015 0 0.00" />
+                      <site name="left_middle_tip" pos="0.01 0.007 0.00" />
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0.00" />
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0.00" />
                     </body>
                   </body>
                 </body>
@@ -282,17 +282,6 @@
     <position name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" />
     <position name="left_thumb_intermediate_position" joint="left_hand_j3" />
     <position name="left_thumb_distal_position" joint="left_hand_j4" />
-
-    <!-- Index joints -->
-    <position name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" />
-    <position name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" />
-    <position name="left_index_distal_position" joint="left_hand_j14" />
-    <position name="left_index_spread_position" joint="left_hand_index_spread" />
-
-    <!-- Middle joints -->
-    <position name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" />
-    <position name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" />
-    <position name="left_middle_distal_position" joint="left_hand_j15" />
     <position name="left_block_position" joint="left_hand_block_joint" />
 
     <!-- Ring joints -->
@@ -306,5 +295,17 @@
     <position name="left_pinky_proximal_position" joint="left_hand_Pinky" />
     <position name="left_pinky_intermediate_position" joint="left_hand_j13" />
     <position name="left_pinky_distal_position" joint="left_hand_j17" />
+
+    <!-- Index joints -->
+    <position name="left_index_spread_position" joint="left_hand_index_spread" />
+    <position name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" />
+    <position name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" />
+    <position name="left_index_distal_position" joint="left_hand_j14" />
+
+    <!-- Middle joints -->
+    <position name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" />
+    <position name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" />
+    <position name="left_middle_distal_position" joint="left_hand_j15" />
+
   </actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/processed/gigahand/assets/robots/schunk/right.xml b/processed/gigahand/assets/robots/schunk/right.xml
index 73340b6696f0e8ab13dec8eb8adb8469c1148849..4befea24b9c365e25fd4a5f3536e1d2fd1a503d4 100644
--- a/processed/gigahand/assets/robots/schunk/right.xml
+++ b/processed/gigahand/assets/robots/schunk/right.xml
@@ -7,14 +7,14 @@
     <!-- with this setting, the response time is around 1s -->
     <position kp="300" dampratio="1.0" inheritrange="1" />
     <joint damping="0.0" armature="1.0" frictionloss="0.0" />
-    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+    <site size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
   </default>
 
   <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+    <texture type="skybox" builtin="gradient" rgb1="1.0 1.0 1.0" rgb2="1.0 1.0 1.0" width="512"
       height="3072" />
-    <texture type="2d" name="right_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="300" />
+    <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1"
+      rgb2="1 1 1" markrgb="0.8 0.8 0.8" width="300" height="300" />
     <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"
       reflectance="0.2" />
     <mesh name="right_d11" content_type="model/obj" file="d11.obj" />
@@ -79,7 +79,7 @@
                       diaginertia="0.01796 0.016832 0.00408805" />
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704" />
                     <geom type="mesh" mesh="right_d11" />
-                    <geom name="collision_hand_right_thumb_2" type="capsule" size="0.01"
+                    <geom name="collision_hand_right_thumb_2" type="capsule" size="0.016"
                       fromto="0 0 0 0.055 0 0" rgba="0 1 0 1" group="3" />
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05"
@@ -87,18 +87,18 @@
                         diaginertia="0.00139495 0.00103 0.000885049" />
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506" />
                       <geom type="mesh" mesh="right_d12" />
-                      <geom name="collision_hand_right_thumb_1" type="capsule" size="0.008"
+                      <geom name="collision_hand_right_thumb_1" type="capsule" size="0.012"
                         fromto="0 0 0 0.03 0 0" rgba="0 1 0 1" group="3" />
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02"
                           diaginertia="2e-05 2e-05 1e-05" />
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406" />
                         <geom type="mesh" mesh="right_d13" />
-                        <geom name="collision_hand_right_thumb_0" type="capsule" size="0.008"
+                        <geom name="collision_hand_right_thumb_0" type="capsule" size="0.012"
                           fromto="0 0 0 0.02 0 0" rgba="0 1 0 1" group="3" />
-                        <site name="right_thumb_tip" pos="0.02 0 0" />
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0" />
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0" />
+                        <site name="right_thumb_tip" pos="0.02 0.01 0" />
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0" />
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0" />
                       </body>
                     </body>
                   </body>
@@ -138,11 +138,11 @@
                             diaginertia="2e-05 2e-05 1e-05" />
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395" />
                           <geom type="mesh" mesh="right_finger_tip" />
-                          <geom name="collision_hand_right_ring_0" type="sphere" size="0.01"
-                            rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
-                          <site name="right_ring_tip" pos="0.01 0 0.00" />
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0.00" />
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0.00" />
+                          <geom name="collision_hand_right_ring_0" type="capsule" size="0.008"
+                            rgba="0 1 0 1" group="3" fromto="0 0 0 0.015 0 0.00" />
+                          <site name="right_ring_tip" pos="0.01 0.007 0.00" />
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0.00" />
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0.00" />
                         </body>
                       </body>
                     </body>
@@ -174,11 +174,11 @@
                             diaginertia="2e-05 2e-05 1e-05" />
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971" />
                           <geom type="mesh" mesh="right_finger_tip" />
-                          <geom name="collision_hand_right_pinky_0" type="sphere" size="0.01"
-                            rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
-                          <site name="right_pinky_tip" pos="0.01 0 0.00" />
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0.00" />
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0.00" />
+                          <geom name="collision_hand_right_pinky_0" type="capsule" size="0.008"
+                            rgba="0 1 0 1" group="3" fromto="0 0 0 0.015 0 0.00" />
+                          <site name="right_pinky_tip" pos="0.01 0.007 0.00" />
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0.00" />
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0.00" />
                         </body>
                       </body>
                     </body>
@@ -212,11 +212,11 @@
                           diaginertia="2e-05 2e-05 1e-05" />
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394" />
                         <geom type="mesh" mesh="right_finger_tip" />
-                        <geom name="collision_hand_right_index_0" type="sphere" size="0.01"
-                          rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
-                        <site name="right_index_tip" pos="0.01 0 0.00" />
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0.00" />
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0.00" />
+                        <geom name="collision_hand_right_index_0" type="capsule" size="0.008"
+                          rgba="0 1 0 1" group="3" fromto="0 0 0 0.015 0 0.00" />
+                        <site name="right_index_tip" pos="0.01 0.007 0.00" />
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0.00" />
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0.00" />
                       </body>
                     </body>
                   </body>
@@ -243,11 +243,11 @@
                         diaginertia="2e-05 2e-05 1e-05" />
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334" />
                       <geom type="mesh" mesh="right_finger_tip" />
-                      <geom name="collision_hand_right_middle_0" type="sphere" size="0.01"
-                        rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
-                      <site name="right_middle_tip" pos="0.01 0 0.00" />
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0.00" />
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0.00" />
+                      <geom name="collision_hand_right_middle_0" type="capsule" size="0.008"
+                        rgba="0 1 0 1" group="3" fromto="0 0 0 0.015 0 0.00" />
+                      <site name="right_middle_tip" pos="0.01 0.007 0.00" />
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0.00" />
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0.00" />
                     </body>
                   </body>
                 </body>
@@ -273,17 +273,6 @@
     <position name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" />
     <position name="right_thumb_intermediate_position" joint="right_hand_j3" />
     <position name="right_thumb_distal_position" joint="right_hand_j4" />
-
-    <!-- Index joints -->
-    <position name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" />
-    <position name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" />
-    <position name="right_index_distal_position" joint="right_hand_j14" />
-    <position name="right_index_spread_position" joint="right_hand_index_spread" />
-
-    <!-- Middle joints -->
-    <position name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" />
-    <position name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" />
-    <position name="right_middle_distal_position" joint="right_hand_j15" />
     <position name="right_block_position" joint="right_hand_block_joint" />
 
     <!-- Ring joints -->
@@ -297,5 +286,16 @@
     <position name="right_pinky_proximal_position" joint="right_hand_Pinky" />
     <position name="right_pinky_intermediate_position" joint="right_hand_j13" />
     <position name="right_pinky_distal_position" joint="right_hand_j17" />
+
+    <!-- Index joints -->
+    <position name="right_index_spread_position" joint="right_hand_index_spread" />
+    <position name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" />
+    <position name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" />
+    <position name="right_index_distal_position" joint="right_hand_j14" />
+
+    <!-- Middle joints -->
+    <position name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" />
+    <position name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" />
+    <position name="right_middle_distal_position" joint="right_hand_j15" />
   </actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/processed/gigahand/assets/robots/xhand/MUJOCO_LOG.TXT b/processed/gigahand/assets/robots/xhand/MUJOCO_LOG.TXT
new file mode 100644
index 0000000000000000000000000000000000000000..b050a6fb405ce7ea54ca27dd909330630da27ca6
--- /dev/null
+++ b/processed/gigahand/assets/robots/xhand/MUJOCO_LOG.TXT
@@ -0,0 +1,3 @@
+Tue Jan 27 20:12:28 2026
+ERROR: could not initialize GLFW
+
diff --git a/processed/gigahand/assets/robots/xhand/left.xml b/processed/gigahand/assets/robots/xhand/left.xml
index df908dc6e7c3cc344af250558ba7fa0a2bc0650e..b7cb3c296f659650939eefa3b9f2f4ba982acca5 100644
--- a/processed/gigahand/assets/robots/xhand/left.xml
+++ b/processed/gigahand/assets/robots/xhand/left.xml
@@ -7,7 +7,7 @@
     <!-- with this setting, the response time is around 1s -->
     <position kp="300" dampratio="1.0" inheritrange="1" />
     <joint damping="0.0" armature="1.0" frictionloss="0.0" />
-    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+    <site size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
   </default>
 
   <asset>
@@ -71,7 +71,7 @@
                 />
                 <geom name="left_hand_link_visual" type="mesh" contype="0" conaffinity="0" group="1"
                   density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_link" />
-                <geom name="collision_hand_left_palm_0" type="box" size="0.03 0.02 0.04"
+                <geom name="collision_hand_left_palm_0" type="box" size="0.04 0.024 0.04"
                   pos="0 0 -0.06"
                   rgba="0 1 0 1" group="3" />
                 <site name="left_palm" pos="0 0 0" type="box" size="0.01 0.02 0.03" quat="0 1 -1 0" />
@@ -84,7 +84,7 @@
                   <geom name="left_thumb_bend_visual" type="mesh" contype="0" conaffinity="0"
                     group="1" density="0" rgba="0.890196 0.890196 0.913725 1"
                     mesh="left_hand_thumb_bend_link" />
-                  <geom name="collision_hand_left_thumb_2" type="capsule" size="0.008"
+                  <geom name="collision_hand_left_thumb_2" type="capsule" size="0.015"
                     fromto="0 0 0 0.02 0 0"
                     rgba="0 1 0 1" group="3" />
                   <body name="left_hand_thumb_rota_link1" pos="0.028599 -0.0083177 0.00178"
@@ -96,7 +96,7 @@
                       range="-1.05 1.57" />
                     <geom name="left_thumb_rota1_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1" />
-                    <geom name="collision_hand_left_thumb_1" type="capsule" size="0.01"
+                    <geom name="collision_hand_left_thumb_1" type="capsule" size="0.02"
                       fromto="0 0 0 0.055 0 0" rgba="0 1 0 1"
                       group="3" />
                     <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0">
@@ -108,15 +108,15 @@
                       <geom name="left_thumb_rota2_visual" type="mesh" contype="0" conaffinity="0"
                         group="1" density="0" rgba="0.384314 0.384314 0.384314 1"
                         mesh="left_hand_thumb_rota_link2" />
-                      <geom name="collision_hand_left_thumb_0" type="capsule" size="0.008"
-                        fromto="0 0 0 0.045 0 0"
+                      <geom name="collision_hand_left_thumb_0" type="capsule" size="0.015"
+                        fromto="0 0 0 0.04 0 0"
                         rgba="0 1 0 1"
                         group="3" />
                       <geom size="0.001" pos="0.0504017 0 0" contype="0" conaffinity="0" group="1"
                         density="0" rgba="0.698039 0.698039 0.698039 1" />
-                      <site name="left_thumb_tip" pos="0.0504017 0 0" />
-                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0" />
-                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0" />
+                      <site name="left_thumb_tip" pos="0.04 0 -0.012" />
+                      <site name="track_hand_left_thumb_tip" pos="0.04 0 -0.012" />
+                      <site name="trace_hand_left_thumb_tip" pos="0.04 0 -0.012" />
                     </body>
                   </body>
                 </body>
@@ -138,7 +138,7 @@
                     />
                     <geom name="left_index_rota1_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="1 1 1 1" mesh="left_hand_index_rota_link1" />
-                    <geom name="collision_hand_left_index_1" type="capsule" size="0.008"
+                    <geom name="collision_hand_left_index_1" type="capsule" size="0.012"
                       fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
                     <body name="left_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="0.000338569 -1.93676e-05 -0.0231329"
@@ -149,13 +149,13 @@
                       <geom name="left_index_rota2_visual" type="mesh" contype="0" conaffinity="0"
                         group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
                         mesh="left_hand_index_rota_link2" />
-                      <geom name="collision_hand_left_index_0" type="capsule" size="0.008"
+                      <geom name="collision_hand_left_index_0" type="capsule" size="0.01"
                         fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
                       <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
                         density="0" rgba="0.698039 0.698039 0.698039 1" />
-                      <site name="left_index_tip" pos="0 0 -0.0425" />
-                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425" />
-                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425" />
+                      <site name="left_index_tip" pos="0 -0.004 -0.027" />
+                      <site name="track_hand_left_index_tip" pos="0 -0.004 -0.027" />
+                      <site name="trace_hand_left_index_tip" pos="0 -0.004 -0.027" />
                     </body>
                   </body>
                 </body>
@@ -167,7 +167,7 @@
                   />
                   <geom name="left_middle_link1_visual" type="mesh" contype="0" conaffinity="0"
                     group="1" density="0" rgba="1 1 1 1" mesh="left_hand_mid_link1" />
-                  <geom name="collision_hand_left_middle_1" type="capsule" size="0.008"
+                  <geom name="collision_hand_left_middle_1" type="capsule" size="0.012"
                     fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
                   <body name="left_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338572 -1.93625e-05 -0.0231328"
@@ -178,13 +178,13 @@
                     <geom name="left_middle_link2_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
                       mesh="left_hand_mid_link2" />
-                    <geom name="collision_hand_left_middle_0" type="capsule" size="0.008"
+                    <geom name="collision_hand_left_middle_0" type="capsule" size="0.01"
                       fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
                     <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
                       density="0" rgba="0.698039 0.698039 0.698039 1" />
-                    <site name="left_middle_tip" pos="0 0 -0.0425" />
-                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425" />
-                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425" />
+                    <site name="left_middle_tip" pos="0 -0.004 -0.027" />
+                    <site name="track_hand_left_middle_tip" pos="0 -0.004 -0.027" />
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.004 -0.027" />
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
@@ -195,7 +195,7 @@
                   />
                   <geom name="left_ring_link1_visual" type="mesh" contype="0" conaffinity="0"
                     group="1" density="0" rgba="1 1 1 1" mesh="left_hand_ring_link1" />
-                  <geom name="collision_hand_left_ring_1" type="capsule" size="0.008"
+                  <geom name="collision_hand_left_ring_1" type="capsule" size="0.012"
                     fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
                   <body name="left_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338569 -1.93676e-05 -0.0231329"
@@ -206,13 +206,13 @@
                     <geom name="left_ring_link2_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
                       mesh="left_hand_ring_link2" />
-                    <geom name="collision_hand_left_ring_0" type="capsule" size="0.008"
+                    <geom name="collision_hand_left_ring_0" type="capsule" size="0.01"
                       fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
                     <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
                       density="0" rgba="0.698039 0.698039 0.698039 1" />
-                    <site name="left_ring_tip" pos="0 0 -0.0425" />
-                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425" />
-                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425" />
+                    <site name="left_ring_tip" pos="0 -0.004 -0.027" />
+                    <site name="track_hand_left_ring_tip" pos="0 -0.004 -0.027" />
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.004 -0.027" />
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
@@ -223,7 +223,7 @@
                   />
                   <geom name="left_pinky_link1_visual" type="mesh" contype="0" conaffinity="0"
                     group="1" density="0" rgba="1 1 1 1" mesh="left_hand_pinky_link1" />
-                  <geom name="collision_hand_left_pinky_1" type="capsule" size="0.008"
+                  <geom name="collision_hand_left_pinky_1" type="capsule" size="0.012"
                     fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
                   <body name="left_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338573 -1.93618e-05 -0.0231328"
@@ -234,13 +234,13 @@
                     <geom name="left_pinky_link2_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
                       mesh="left_hand_pinky_link2" />
-                    <geom name="collision_hand_left_pinky_0" type="capsule" size="0.008"
+                    <geom name="collision_hand_left_pinky_0" type="capsule" size="0.01"
                       fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
                     <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
                       density="0" rgba="0.698039 0.698039 0.698039 1" />
-                    <site name="left_pinky_tip" pos="0 0 -0.0425" />
-                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425" />
-                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425" />
+                    <site name="left_pinky_tip" pos="0 -0.004 -0.027" />
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.004 -0.027" />
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.004 -0.027" />
                   </body>
                 </body>
               </body>
@@ -282,4 +282,4 @@
     <position name="left_pinky_joint1_position" joint="left_hand_pinky_joint1" />
     <position name="left_pinky_joint2_position" joint="left_hand_pinky_joint2" />
   </actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/processed/gigahand/assets/robots/xhand/right.xml b/processed/gigahand/assets/robots/xhand/right.xml
index e7d2fccb145bf9e20c92778dc42ddea3b2a31911..2e28636b928a4d9802792a97d77ee571aab467b4 100644
--- a/processed/gigahand/assets/robots/xhand/right.xml
+++ b/processed/gigahand/assets/robots/xhand/right.xml
@@ -7,11 +7,11 @@
     <!-- with this setting, the response time is around 1s -->
     <position kp="300" dampratio="1.0" inheritrange="1" />
     <joint damping="0.0" armature="1.0" frictionloss="0.0" />
-    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+    <site size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
   </default>
 
   <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+    <texture type="skybox" builtin="gradient" rgb1="1.0 1.0 1.0" rgb2="1.0 1.0 1.0" width="512"
       height="3072" />
     <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
       rgb2="0.1 0.2 0.3"
@@ -65,7 +65,7 @@
                 <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
                 <geom name="right_hand_link_visual" type="mesh" contype="0" conaffinity="0"
                   group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link" />
-                <geom name="collision_hand_right_palm_0" type="box" size="0.03 0.02 0.04"
+                <geom name="collision_hand_right_palm_0" type="box" size="0.04 0.024 0.04"
                   pos="0 0 -0.06"
                   rgba="0 1 0 1" group="3" />
                 <site name="right_palm" pos="0 0 0" type="box" size="0.01 0.02 0.03" quat="0 1 1 0" />
@@ -77,7 +77,7 @@
                   <geom name="right_thumb_bend_visual" type="mesh" contype="0" conaffinity="0"
                     group="1" density="0" rgba="0.890196 0.890196 0.913725 1"
                     mesh="right_hand_thumb_bend_link" />
-                  <geom name="collision_hand_right_thumb_2" type="capsule" size="0.008"
+                  <geom name="collision_hand_right_thumb_2" type="capsule" size="0.015"
                     fromto="0 0 0 0.02 0 0"
                     rgba="0 1 0 1" group="3" />
                   <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178"
@@ -89,7 +89,7 @@
                       range="-1.05 1.57" />
                     <geom name="right_thumb_rota1_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1" />
-                    <geom name="collision_hand_right_thumb_1" type="capsule" size="0.01"
+                    <geom name="collision_hand_right_thumb_1" type="capsule" size="0.02"
                       fromto="0 0 0 0.055 0 0" rgba="0 1 0 1"
                       group="3" />
                     <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
@@ -101,15 +101,16 @@
                       <geom name="right_thumb_rota2_visual" type="mesh" contype="0" conaffinity="0"
                         group="1" density="0" rgba="0.792157 0.819608 0.933333 1"
                         mesh="right_hand_thumb_rota_link2" />
-                      <geom name="collision_hand_right_thumb_0" type="capsule" size="0.008"
-                        fromto="0 0 0 0.045 0 0"
+                      <geom name="collision_hand_right_thumb_0" type="capsule" size="0.015"
+                        fromto="0 0 0 0.04 0 0"
                         rgba="0 1 0 1"
                         group="3" />
+
                       <geom size="0.001" pos="0.0504025 0 0" contype="0" conaffinity="0" group="1"
                         density="0" rgba="0.698039 0.698039 0.698039 1" />
-                      <site name="right_thumb_tip" pos="0.0504025 0 0" />
-                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0" />
-                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0" />
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012" />
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012" />
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012" />
                     </body>
                   </body>
                 </body>
@@ -130,7 +131,7 @@
                     />
                     <geom name="right_index_rota1_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1" />
-                    <geom name="collision_hand_right_index_1" type="capsule" size="0.008"
+                    <geom name="collision_hand_right_index_1" type="capsule" size="0.012"
                       fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
                     <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="-0.000338569 1.93676e-05 -0.0231329"
@@ -141,13 +142,13 @@
                       <geom name="right_index_rota2_visual" type="mesh" contype="0" conaffinity="0"
                         group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
                         mesh="right_hand_index_rota_link2" />
-                      <geom name="collision_hand_right_index_0" type="capsule" size="0.008"
+                      <geom name="collision_hand_right_index_0" type="capsule" size="0.01"
                         fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
                       <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
                         density="0" rgba="0.698039 0.698039 0.698039 1" />
-                      <site name="right_index_tip" pos="0 0 -0.0425" />
-                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425" />
-                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425" />
+                      <site name="right_index_tip" pos="0 0.004 -0.027" />
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027" />
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027" />
                     </body>
                   </body>
                 </body>
@@ -159,7 +160,7 @@
                   />
                   <geom name="right_middle_link1_visual" type="mesh" contype="0" conaffinity="0"
                     group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1" />
-                  <geom name="collision_hand_right_middle_1" type="capsule" size="0.008"
+                  <geom name="collision_hand_right_middle_1" type="capsule" size="0.012"
                     fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
                   <body name="right_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329"
@@ -170,13 +171,13 @@
                     <geom name="right_middle_link2_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
                       mesh="right_hand_mid_link2" />
-                    <geom name="collision_hand_right_middle_0" type="capsule" size="0.008"
+                    <geom name="collision_hand_right_middle_0" type="capsule" size="0.01"
                       fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
                     <geom size="0.001" pos="0 0 -0.042107" contype="0" conaffinity="0" group="1"
                       density="0" rgba="0.698039 0.698039 0.698039 1" />
-                    <site name="right_middle_tip" pos="0 0 -0.042107" />
-                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107" />
-                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107" />
+                    <site name="right_middle_tip" pos="0 0.004 -0.027" />
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027" />
+                    <site name="trace_hand_right_middle_tip" pos="0 0.004 -0.027" />
                   </body>
                 </body>
                 <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
@@ -187,7 +188,7 @@
                   />
                   <geom name="right_ring_link1_visual" type="mesh" contype="0" conaffinity="0"
                     group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1" />
-                  <geom name="collision_hand_right_ring_1" type="capsule" size="0.008"
+                  <geom name="collision_hand_right_ring_1" type="capsule" size="0.012"
                     fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
                   <body name="right_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338573 1.93622e-05 -0.0231328"
@@ -198,13 +199,13 @@
                     <geom name="right_ring_link2_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
                       mesh="right_hand_ring_link2" />
-                    <geom name="collision_hand_right_ring_0" type="capsule" size="0.008"
+                    <geom name="collision_hand_right_ring_0" type="capsule" size="0.01"
                       fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
                     <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
                       density="0" rgba="0.698039 0.698039 0.698039 1" />
-                    <site name="right_ring_tip" pos="0 0 -0.0425" />
-                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425" />
-                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425" />
+                    <site name="right_ring_tip" pos="0 0.004 -0.027" />
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027" />
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027" />
                   </body>
                 </body>
                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
@@ -215,7 +216,7 @@
                   />
                   <geom name="right_pinky_link1_visual" type="mesh" contype="0" conaffinity="0"
                     group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1" />
-                  <geom name="collision_hand_right_pinky_1" type="capsule" size="0.008"
+                  <geom name="collision_hand_right_pinky_1" type="capsule" size="0.012"
                     fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
                   <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329"
@@ -226,13 +227,13 @@
                     <geom name="right_pinky_link2_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
                       mesh="right_hand_pinky_link2" />
-                    <geom name="collision_hand_right_pinky_0" type="capsule" size="0.008"
+                    <geom name="collision_hand_right_pinky_0" type="capsule" size="0.01"
                       fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
                     <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
                       density="0" rgba="0.698039 0.698039 0.698039 1" />
-                    <site name="right_pinky_tip" pos="0 0 -0.0425" />
-                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425" />
-                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425" />
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027" />
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027" />
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027" />
                   </body>
                 </body>
               </body>
@@ -274,4 +275,4 @@
     <position name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" />
     <position name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" />
   </actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/processed/gigahand/inspire/bimanual/complete_data.csv b/processed/gigahand/inspire/bimanual/complete_data.csv
index c5c44b670b555b15e7697781f1f9033d62cb84bf..30f9b3676975d3b1ba9c592878fd1bfd5d66a4dc 100644
--- a/processed/gigahand/inspire/bimanual/complete_data.csv
+++ b/processed/gigahand/inspire/bimanual/complete_data.csv
@@ -1,4 +1,16 @@
-dataset,robot_type,hand_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
-gigahand,inspire,bimanual,mjwpeq,p44-dog,4,p44-dog/4,0.02811341850242562,0.05349078388131248,0.02811341850242562,1.3784534198296621e-05,0.05349078388131248,1.6655830393690827e-05,True,0.1,0.5
-gigahand,inspire,bimanual,mjwpeq,p52-instrument,34,p52-instrument/34,0.03365059884527611,0.08445663411254296,0.03365059884527611,1.1409801788830149e-05,0.08445663411254296,1.1867780954189402e-05,True,0.1,0.5
-gigahand,inspire,bimanual,mjwpeq,p36-tea,10,p36-tea/10,0.13473950287307318,0.7543910014646089,0.13473950287307318,1.5148857862975204e-05,0.7543910014646089,1.6721370051025112e-05,False,0.1,0.5
+dataset,robot_type,embodiment_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
+gigahand,inspire,bimanual,mjwp,p52-instrument,0,p52-instrument/0,0.026037509448905136,0.1311968266181004,0.026037509448905136,6.627820095389722e-06,0.1311968266181004,2.5275529239716922e-05,True,0.1,0.5
+gigahand,inspire,bimanual,mjwp,p52-instrument,1,p52-instrument/1,0.0278616284169149,0.12160598856888592,0.0278616284169149,6.6278200640912486e-06,0.12160598856888592,2.5275511904230747e-05,True,0.1,0.5
+gigahand,inspire,bimanual,mjwp,p52-instrument,2,p52-instrument/2,0.025672443732808334,0.11862242664253453,0.025672443732808334,6.627820034851761e-06,0.11862242664253453,2.527551010788447e-05,True,0.1,0.5
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diff --git a/processed/gigahand/inspire/bimanual/p36-tea/3/config.yaml b/processed/gigahand/inspire/bimanual/p36-tea/3/config.yaml
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+robot_type: inspire
+embodiment_type: bimanual
+task: p36-tea
+seed: 3
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 3
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/inspire/bimanual/p36-tea/3/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/inspire/bimanual/p36-tea/3/trajectory_kinematic.npz
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+output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/inspire/bimanual/p36-tea/3
diff --git a/processed/gigahand/inspire/bimanual/p36-tea/3/trajectory_kinematic.npz b/processed/gigahand/inspire/bimanual/p36-tea/3/trajectory_kinematic.npz
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+robot_type: inspire
+embodiment_type: bimanual
+task: p36-tea
+seed: 4
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/inspire/bimanual/p36-tea/4/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/inspire/bimanual/p36-tea/4/trajectory_kinematic.npz
+simulator: mjwp
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+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
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+nq: 50
+nv: 48
+nu: 36
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+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/inspire/bimanual/p36-tea/4
diff --git a/processed/gigahand/inspire/bimanual/p36-tea/4/trajectory_kinematic.npz b/processed/gigahand/inspire/bimanual/p36-tea/4/trajectory_kinematic.npz
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diff --git a/processed/gigahand/inspire/bimanual/p36-tea/scene.xml b/processed/gigahand/inspire/bimanual/p36-tea/scene.xml
index ba92c23d8008e31eccdd00e4278fa4245fb54758..63a24dcfd28ff44c4d42608c97ef4228f99969fb 100644
--- a/processed/gigahand/inspire/bimanual/p36-tea/scene.xml
+++ b/processed/gigahand/inspire/bimanual/p36-tea/scene.xml
@@ -1,7 +1,7 @@
 <mujoco model="bimanual">
   <compiler angle="radian" meshdir="../../../assets/"/>
 
-  <option timestep="0.01" iterations="10">
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@@ -19,13 +19,13 @@
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-    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="1"/>
     <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
     <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
     <mesh name="R_hand_base_link" content_type="model/stl" file="robots/inspire/assets/R_hand_base_link.STL"/>
@@ -56,12 +56,20 @@
     <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
     <mesh name="right_0" file="objects/p36-tea/convex/0.obj"/>
     <mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
+    <mesh name="right_10" file="objects/p36-tea/convex/10.obj"/>
+    <mesh name="right_11" file="objects/p36-tea/convex/11.obj"/>
+    <mesh name="right_12" file="objects/p36-tea/convex/12.obj"/>
+    <mesh name="right_13" file="objects/p36-tea/convex/13.obj"/>
+    <mesh name="right_14" file="objects/p36-tea/convex/14.obj"/>
+    <mesh name="right_15" file="objects/p36-tea/convex/15.obj"/>
     <mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
     <mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
     <mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
     <mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
     <mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
     <mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
+    <mesh name="right_8" file="objects/p36-tea/convex/8.obj"/>
+    <mesh name="right_9" file="objects/p36-tea/convex/9.obj"/>
     <mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
   </asset>
 
@@ -292,14 +300,22 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
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-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_15"/>
+      <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"/>
@@ -383,316 +399,500 @@
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-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
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+    <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_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" 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="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_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_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" 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_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" 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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/gigahand/inspire/bimanual/p36-tea/scene_eq.xml b/processed/gigahand/inspire/bimanual/p36-tea/scene_eq.xml
index 64498a7713c7657ff82ce5e031f4760e936fae10..826d1f4cd33ff62f1593e98eb0f76431c684b287 100644
--- a/processed/gigahand/inspire/bimanual/p36-tea/scene_eq.xml
+++ b/processed/gigahand/inspire/bimanual/p36-tea/scene_eq.xml
@@ -1,7 +1,7 @@
 <mujoco model="bimanual">
   <compiler angle="radian" meshdir="../../../assets/"/>
 
-  <option timestep="0.01" iterations="10">
+  <option timestep="0.01" iterations="20">
     <flag eulerdamp="disable"/>
   </option>
 
@@ -19,13 +19,13 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="1"/>
     <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
     <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
     <mesh name="R_hand_base_link" content_type="model/stl" file="robots/inspire/assets/R_hand_base_link.STL"/>
@@ -56,12 +56,20 @@
     <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
     <mesh name="right_0" file="objects/p36-tea/convex/0.obj"/>
     <mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
+    <mesh name="right_10" file="objects/p36-tea/convex/10.obj"/>
+    <mesh name="right_11" file="objects/p36-tea/convex/11.obj"/>
+    <mesh name="right_12" file="objects/p36-tea/convex/12.obj"/>
+    <mesh name="right_13" file="objects/p36-tea/convex/13.obj"/>
+    <mesh name="right_14" file="objects/p36-tea/convex/14.obj"/>
+    <mesh name="right_15" file="objects/p36-tea/convex/15.obj"/>
     <mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
     <mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
     <mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
     <mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
     <mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
     <mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
+    <mesh name="right_8" file="objects/p36-tea/convex/8.obj"/>
+    <mesh name="right_9" file="objects/p36-tea/convex/9.obj"/>
     <mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
   </asset>
 
@@ -292,14 +300,22 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_15"/>
+      <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"/>
@@ -383,316 +399,500 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
+    <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_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" 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="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_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_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" 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_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_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_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_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_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_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_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="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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" 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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
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diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/scene_eq.xml b/processed/gigahand/inspire/bimanual/p52-instrument/scene_eq.xml
index ba90c936d16d2754b014d7ec78a26d081b7f7ff3..9f5f5cd293e808090a8b891bfac90f0689f35b93 100644
--- a/processed/gigahand/inspire/bimanual/p52-instrument/scene_eq.xml
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diff --git a/processed/gigahand/inspire/bimanual/summary.csv b/processed/gigahand/inspire/bimanual/summary.csv
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diff --git a/processed/gigahand/mano/bimanual/p36-tea/0/trajectory_keypoints.npz b/processed/gigahand/mano/bimanual/p36-tea/0/trajectory_keypoints.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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index 4775dd4b4f8ebcb09b0d12c0f510e8bb47a54963..239bcfa0f66c816b027492318599c7d5a403fa2a 100644
--- a/processed/gigahand/mano/bimanual/p36-tea/task_info.json
+++ b/processed/gigahand/mano/bimanual/p36-tea/task_info.json
@@ -8,4 +8,4 @@
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--- a/processed/gigahand/schunk/bimanual/complete_data.csv
+++ b/processed/gigahand/schunk/bimanual/complete_data.csv
@@ -1,4 +1,16 @@
-dataset,robot_type,hand_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
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@@ -42,12 +42,20 @@
     <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
     <mesh name="right_0" file="objects/p36-tea/convex/0.obj"/>
     <mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
+    <mesh name="right_10" file="objects/p36-tea/convex/10.obj"/>
+    <mesh name="right_11" file="objects/p36-tea/convex/11.obj"/>
+    <mesh name="right_12" file="objects/p36-tea/convex/12.obj"/>
+    <mesh name="right_13" file="objects/p36-tea/convex/13.obj"/>
+    <mesh name="right_14" file="objects/p36-tea/convex/14.obj"/>
+    <mesh name="right_15" file="objects/p36-tea/convex/15.obj"/>
     <mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
     <mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
     <mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
     <mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
     <mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
     <mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
+    <mesh name="right_8" file="objects/p36-tea/convex/8.obj"/>
+    <mesh name="right_9" file="objects/p36-tea/convex/9.obj"/>
     <mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
   </asset>
 
@@ -90,20 +98,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
                     <geom type="mesh" mesh="right_d11"/>
-                    <geom name="collision_hand_right_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
                       <geom type="mesh" mesh="right_d12"/>
-                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
                         <geom type="mesh" mesh="right_d13"/>
-                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0"/>
                       </body>
                     </body>
                   </body>
@@ -131,10 +139,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -157,10 +165,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -184,10 +192,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="right_finger_tip"/>
-                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="right_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_right_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -206,10 +214,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="right_finger_tip"/>
-                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="right_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_right_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -255,20 +263,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -296,10 +304,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -322,10 +330,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -349,10 +357,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -371,10 +379,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -386,27 +394,35 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_15"/>
+      <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="0.0018825 0.0818593 -0.0269382" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="-0.0291577 0.0792714 0.0057566" 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"/>
-      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00187915 0.081854 -0.0269697" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0291784 0.0791531 0.00562098" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" size="0.01" 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"/>
@@ -442,7 +458,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -479,12 +495,20 @@
   <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_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" 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_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"/>
@@ -503,20 +527,36 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_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_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" 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_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_11" name="collision_hand_right_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_12" name="collision_hand_right_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_13" name="collision_hand_right_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_14" name="collision_hand_right_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_15" name="collision_hand_right_thumb_2_right_object_15" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -525,12 +565,20 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" 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_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_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_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_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_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_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_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="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_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"/>
@@ -548,20 +596,36 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" 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_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_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_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" 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_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_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_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_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_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_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_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_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_11" name="collision_hand_right_ring_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_12" name="collision_hand_right_ring_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_13" name="collision_hand_right_ring_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_14" name="collision_hand_right_ring_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_15" name="collision_hand_right_ring_2_right_object_15" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -570,12 +634,20 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
@@ -592,20 +664,36 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_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_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_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_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" 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_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_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_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_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_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_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_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_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_11" name="collision_hand_right_pinky_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_12" name="collision_hand_right_pinky_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_13" name="collision_hand_right_pinky_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_14" name="collision_hand_right_pinky_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_15" name="collision_hand_right_pinky_2_right_object_15" 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="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -614,12 +702,20 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" 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_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_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_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_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_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_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_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="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -635,20 +731,36 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_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_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_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_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" 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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" 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_10" name="collision_hand_right_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_11" name="collision_hand_right_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_12" name="collision_hand_right_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_13" name="collision_hand_right_index_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_14" name="collision_hand_right_index_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_15" name="collision_hand_right_index_2_right_object_15" 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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -657,12 +769,20 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" 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_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_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" 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_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_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_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_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_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_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_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="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_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -677,20 +797,36 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" 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_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_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" 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_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_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_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_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_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_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_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_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_11" name="collision_hand_right_middle_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_12" name="collision_hand_right_middle_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_13" name="collision_hand_right_middle_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_14" name="collision_hand_right_middle_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_15" name="collision_hand_right_middle_2_right_object_15" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -699,12 +835,20 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -718,12 +862,20 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_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_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_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_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" 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_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_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_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_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_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_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_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_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -731,142 +883,270 @@
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_10" name="collision_hand_left_ring_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_11" name="collision_hand_left_ring_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_12" name="collision_hand_left_ring_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_13" name="collision_hand_left_ring_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_14" name="collision_hand_left_ring_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_15" name="collision_hand_left_ring_2_right_object_15" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_10" name="collision_hand_left_pinky_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_11" name="collision_hand_left_pinky_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_12" name="collision_hand_left_pinky_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_13" name="collision_hand_left_pinky_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_14" name="collision_hand_left_pinky_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_15" name="collision_hand_left_pinky_2_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_8" name="collision_hand_left_pinky_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_9" name="collision_hand_left_pinky_2_right_object_9" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_10" name="collision_hand_left_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_11" name="collision_hand_left_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_12" name="collision_hand_left_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_13" name="collision_hand_left_index_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_14" name="collision_hand_left_index_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_15" name="collision_hand_left_index_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_9" name="collision_hand_left_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_15" name="collision_hand_left_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_10" name="collision_hand_left_middle_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_11" name="collision_hand_left_middle_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_12" name="collision_hand_left_middle_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_13" name="collision_hand_left_middle_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_14" name="collision_hand_left_middle_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_15" name="collision_hand_left_middle_2_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_9" name="collision_hand_left_middle_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
   </contact>
 
   <actuator>
@@ -880,13 +1160,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -896,6 +1169,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -906,13 +1186,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -922,5 +1195,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/gigahand/schunk/bimanual/p36-tea/scene_eq.xml b/processed/gigahand/schunk/bimanual/p36-tea/scene_eq.xml
index fd7537977197cb6d892d0cc8ce34cbc8f182353b..8b2cf3797c67ac9ad59610b026ef4f787d9ad290 100644
--- a/processed/gigahand/schunk/bimanual/p36-tea/scene_eq.xml
+++ b/processed/gigahand/schunk/bimanual/p36-tea/scene_eq.xml
@@ -4,13 +4,13 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -42,12 +42,20 @@
     <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
     <mesh name="right_0" file="objects/p36-tea/convex/0.obj"/>
     <mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
+    <mesh name="right_10" file="objects/p36-tea/convex/10.obj"/>
+    <mesh name="right_11" file="objects/p36-tea/convex/11.obj"/>
+    <mesh name="right_12" file="objects/p36-tea/convex/12.obj"/>
+    <mesh name="right_13" file="objects/p36-tea/convex/13.obj"/>
+    <mesh name="right_14" file="objects/p36-tea/convex/14.obj"/>
+    <mesh name="right_15" file="objects/p36-tea/convex/15.obj"/>
     <mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
     <mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
     <mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
     <mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
     <mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
     <mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
+    <mesh name="right_8" file="objects/p36-tea/convex/8.obj"/>
+    <mesh name="right_9" file="objects/p36-tea/convex/9.obj"/>
     <mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
   </asset>
 
@@ -90,20 +98,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
                     <geom type="mesh" mesh="right_d11"/>
-                    <geom name="collision_hand_right_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
                       <geom type="mesh" mesh="right_d12"/>
-                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
                         <geom type="mesh" mesh="right_d13"/>
-                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0"/>
                       </body>
                     </body>
                   </body>
@@ -131,10 +139,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -157,10 +165,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -184,10 +192,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="right_finger_tip"/>
-                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="right_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_right_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -206,10 +214,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="right_finger_tip"/>
-                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="right_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_right_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -255,20 +263,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -296,10 +304,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -322,10 +330,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -349,10 +357,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -371,10 +379,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -386,27 +394,35 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_15"/>
+      <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="0.0018825 0.0818593 -0.0269382" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="-0.0291577 0.0792714 0.0057566" 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"/>
-      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00187915 0.081854 -0.0269697" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0291784 0.0791531 0.00562098" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" size="0.01" 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"/>
@@ -442,7 +458,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -479,12 +495,20 @@
   <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_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" 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_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"/>
@@ -503,20 +527,36 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_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_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" 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_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_11" name="collision_hand_right_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_12" name="collision_hand_right_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_13" name="collision_hand_right_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_14" name="collision_hand_right_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_15" name="collision_hand_right_thumb_2_right_object_15" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -525,12 +565,20 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" 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_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_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_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_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_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_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_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="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_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"/>
@@ -548,20 +596,36 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" 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_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_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_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" 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_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_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_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_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_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_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_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_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_11" name="collision_hand_right_ring_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_12" name="collision_hand_right_ring_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_13" name="collision_hand_right_ring_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_14" name="collision_hand_right_ring_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_15" name="collision_hand_right_ring_2_right_object_15" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -570,12 +634,20 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
@@ -592,20 +664,36 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_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_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_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_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" 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_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_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_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_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_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_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_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_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_11" name="collision_hand_right_pinky_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_12" name="collision_hand_right_pinky_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_13" name="collision_hand_right_pinky_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_14" name="collision_hand_right_pinky_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_15" name="collision_hand_right_pinky_2_right_object_15" 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="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -614,12 +702,20 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" 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_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_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_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_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_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_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_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="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -635,20 +731,36 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_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_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_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_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" 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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" 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_10" name="collision_hand_right_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_11" name="collision_hand_right_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_12" name="collision_hand_right_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_13" name="collision_hand_right_index_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_14" name="collision_hand_right_index_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_15" name="collision_hand_right_index_2_right_object_15" 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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -657,12 +769,20 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" 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_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_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" 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_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_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_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_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_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_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_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="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_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -677,20 +797,36 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" 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_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_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" 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_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_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_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_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_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_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_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_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_11" name="collision_hand_right_middle_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_12" name="collision_hand_right_middle_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_13" name="collision_hand_right_middle_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_14" name="collision_hand_right_middle_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_15" name="collision_hand_right_middle_2_right_object_15" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -699,12 +835,20 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -718,12 +862,20 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_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_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_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_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" 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_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_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_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_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_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_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_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_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -731,142 +883,270 @@
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_10" name="collision_hand_left_ring_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_11" name="collision_hand_left_ring_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_12" name="collision_hand_left_ring_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_13" name="collision_hand_left_ring_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_14" name="collision_hand_left_ring_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_15" name="collision_hand_left_ring_2_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_9" name="collision_hand_left_ring_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_10" name="collision_hand_left_pinky_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_11" name="collision_hand_left_pinky_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_12" name="collision_hand_left_pinky_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_13" name="collision_hand_left_pinky_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_14" name="collision_hand_left_pinky_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_15" name="collision_hand_left_pinky_2_right_object_15" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_8" name="collision_hand_left_pinky_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_9" name="collision_hand_left_pinky_2_right_object_9" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_10" name="collision_hand_left_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_11" name="collision_hand_left_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_12" name="collision_hand_left_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_13" name="collision_hand_left_index_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_14" name="collision_hand_left_index_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_15" name="collision_hand_left_index_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_9" name="collision_hand_left_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_10" name="collision_hand_left_middle_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_11" name="collision_hand_left_middle_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_12" name="collision_hand_left_middle_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_13" name="collision_hand_left_middle_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_14" name="collision_hand_left_middle_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_15" name="collision_hand_left_middle_2_right_object_15" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_9" name="collision_hand_left_middle_2_right_object_9" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
   </contact>
 
   <equality>
@@ -903,13 +1183,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -919,6 +1192,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -929,13 +1209,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -945,5 +1218,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/gigahand/schunk/bimanual/p44-dog/0/config.yaml b/processed/gigahand/schunk/bimanual/p44-dog/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..71cb48c0c9bdb04464102bf6d8c64424c0769c72
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p44-dog/0/config.yaml
@@ -0,0 +1,91 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: p44-dog
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/schunk/bimanual/p44-dog/0/../scene.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/schunk/bimanual/p44-dog/0/trajectory_kinematic.npz
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+- -0.005
+- 0.005
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+- -0.005
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diff --git a/processed/gigahand/schunk/bimanual/p44-dog/0/trajectory_ikrollout.npz b/processed/gigahand/schunk/bimanual/p44-dog/0/trajectory_ikrollout.npz
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--- /dev/null
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--- /dev/null
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+dataset_dir: example_datasets
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                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -296,10 +296,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -322,10 +322,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -349,10 +349,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -371,10 +371,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -386,27 +386,27 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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="0.488538 0.502738 0.226069" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" size="0.01" 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"/>
@@ -442,7 +442,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -880,13 +880,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -896,6 +889,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -906,13 +906,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -922,5 +915,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/gigahand/schunk/bimanual/p44-dog/scene_eq.xml b/processed/gigahand/schunk/bimanual/p44-dog/scene_eq.xml
index 64a3f396782f6e36b6e5e8ee45fa2112238f2e78..3208556c451ed05a474088f39c158aee7de7d3a6 100644
--- a/processed/gigahand/schunk/bimanual/p44-dog/scene_eq.xml
+++ b/processed/gigahand/schunk/bimanual/p44-dog/scene_eq.xml
@@ -4,13 +4,13 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -90,20 +90,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
                     <geom type="mesh" mesh="right_d11"/>
-                    <geom name="collision_hand_right_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
                       <geom type="mesh" mesh="right_d12"/>
-                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
                         <geom type="mesh" mesh="right_d13"/>
-                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0"/>
                       </body>
                     </body>
                   </body>
@@ -131,10 +131,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -157,10 +157,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -184,10 +184,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="right_finger_tip"/>
-                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="right_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_right_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -206,10 +206,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="right_finger_tip"/>
-                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="right_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_right_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -255,20 +255,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -296,10 +296,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -322,10 +322,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -349,10 +349,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -371,10 +371,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -386,27 +386,27 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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="0.488538 0.502738 0.226069" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" size="0.01" 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"/>
@@ -442,7 +442,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -903,13 +903,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -919,6 +912,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -929,13 +929,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -945,5 +938,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
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new file mode 100644
index 0000000000000000000000000000000000000000..58965f35c9b11c08c450c37aff0b306601a9de7d
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/0/config.yaml
@@ -0,0 +1,92 @@
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+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/schunk/bimanual/p52-instrument/0/../scene.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/schunk/bimanual/p52-instrument/0/trajectory_kinematic.npz
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+- -0.005
+- 0.005
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+- -0.005
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@@ -0,0 +1,92 @@
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index ae9d099228163cb4be02b7e26c16f310bbfcfd66..cc4ca1146aeb132615aa6707d2801b6ee1c719f2 100644
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+++ b/processed/gigahand/schunk/bimanual/p52-instrument/scene.xml
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@@ -129,10 +129,10 @@
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                         </body>
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@@ -155,10 +155,10 @@
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@@ -182,10 +182,10 @@
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@@ -204,10 +204,10 @@
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@@ -253,20 +253,20 @@
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@@ -294,10 +294,10 @@
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-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -320,10 +320,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -347,10 +347,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -369,10 +369,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -384,25 +384,25 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <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_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="0.51175 0.464024 0.2359" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0.44699 0.429017 0.273535" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0.726217 0.517055 0.251473" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.51175 0.464024 0.2359" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.44699 0.429017 0.273535" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.726217 0.517055 0.251473" size="0.01" 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"/>
@@ -438,7 +438,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -810,13 +810,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -826,6 +819,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -836,13 +836,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -852,5 +845,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/scene_eq.xml b/processed/gigahand/schunk/bimanual/p52-instrument/scene_eq.xml
index 0cf5a048c19f1babdfc4d9ebb638a7aea8f7cf82..cc2327e97200ce0690e36fc1bbbd87ca96bd8535 100644
--- a/processed/gigahand/schunk/bimanual/p52-instrument/scene_eq.xml
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/scene_eq.xml
@@ -4,13 +4,13 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -88,20 +88,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
                     <geom type="mesh" mesh="right_d11"/>
-                    <geom name="collision_hand_right_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
                       <geom type="mesh" mesh="right_d12"/>
-                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
                         <geom type="mesh" mesh="right_d13"/>
-                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0"/>
                       </body>
                     </body>
                   </body>
@@ -129,10 +129,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -155,10 +155,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -182,10 +182,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="right_finger_tip"/>
-                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="right_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_right_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -204,10 +204,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="right_finger_tip"/>
-                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="right_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_right_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -253,20 +253,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -294,10 +294,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -320,10 +320,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -347,10 +347,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -369,10 +369,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -384,25 +384,25 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <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_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="0.51175 0.464024 0.2359" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0.44699 0.429017 0.273535" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0.726217 0.517055 0.251473" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.51175 0.464024 0.2359" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.44699 0.429017 0.273535" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.726217 0.517055 0.251473" size="0.01" 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"/>
@@ -438,7 +438,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -833,13 +833,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -849,6 +842,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -859,13 +859,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -875,5 +868,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/gigahand/schunk/bimanual/summary.csv b/processed/gigahand/schunk/bimanual/summary.csv
index def599675b8bdfb3e8e981d7593850a57ddfbad2..f17e89f7e02d3e8b1831da19fe7759e57e371d48 100644
--- a/processed/gigahand/schunk/bimanual/summary.csv
+++ b/processed/gigahand/schunk/bimanual/summary.csv
@@ -1,4 +1,33 @@
-task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,data_type,pos_err_threshold,quat_err_threshold,timestamp,data_id,obj_pos_err,obj_quat_err,success
-p44-dog,1,1,1.0,0.059065151195291606,0.0,0.13707867336221885,0.0,gigahand,schunk,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,4.0,0.059065151195291606,0.13707867336221885,True
-p52-instrument,1,1,1.0,0.06736726243301921,0.0,0.17563847254280526,0.0,gigahand,schunk,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,34.0,0.06736726243301921,0.17563847254280526,True
-p36-tea,1,0,0.0,0.1358287148787073,0.0,0.7451442057382436,0.0,gigahand,schunk,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,10.0,0.1358287148787073,0.7451442057382436,False
+dataset,robot_type,embodiment_type,data_type,task,data_id,obj_pos_err,obj_quat_err,success,pos_err_threshold,quat_err_threshold,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,timestamp
+gigahand,schunk,bimanual,mjwp,p52-instrument,3,0.0542700293960328,0.277968204922561,True,0.1,0.6,1,1,1.0,0.0542700293960328,0.0,0.277968204922561,0.0,2026-01-27 17:29:46
+gigahand,schunk,bimanual,mjwp,p52-instrument,4,0.0674077232122072,0.2805942920049404,True,0.1,0.6,1,1,1.0,0.0674077232122072,0.0,0.2805942920049404,0.0,2026-01-27 17:29:46
+gigahand,schunk,bimanual,mjwp,p52-instrument,1,0.0811118182816682,0.3312753365644035,True,0.1,0.6,1,1,1.0,0.0811118182816682,0.0,0.3312753365644035,0.0,2026-01-27 17:29:46
+gigahand,schunk,bimanual,mjwp,p52-instrument,0,0.1230124817201449,0.305017426668992,False,0.1,0.6,1,0,0.0,0.1230124817201449,0.0,0.305017426668992,0.0,2026-01-27 17:29:46
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diff --git a/processed/gigahand/xhand/bimanual/complete_data.csv b/processed/gigahand/xhand/bimanual/complete_data.csv
index 15845939643e30b443f87e52369b35655da709cf..f57c6df93b526e87700fedcfb22c531fc99a88ee 100644
--- a/processed/gigahand/xhand/bimanual/complete_data.csv
+++ b/processed/gigahand/xhand/bimanual/complete_data.csv
@@ -1,4 +1,16 @@
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diff --git a/processed/gigahand/xhand/bimanual/p36-tea/0/config.yaml b/processed/gigahand/xhand/bimanual/p36-tea/0/config.yaml
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diff --git a/processed/gigahand/xhand/bimanual/p36-tea/4/visualization_mjwp.mp4 b/processed/gigahand/xhand/bimanual/p36-tea/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..06ad762ba971e76f5a467ec165c3be6115073e43
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p36-tea/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7842a43c05eb6ec3c08c16318f8e93c2d57b2ddf83517ce755073727c28a076
+size 1211180
diff --git a/processed/gigahand/xhand/bimanual/p36-tea/scene.xml b/processed/gigahand/xhand/bimanual/p36-tea/scene.xml
index d1b56d31ec4e7c763017c640a3fa29cb085d73f6..ce5f04f9e6c2111a73f4f4a57b012db5df3b636a 100644
--- a/processed/gigahand/xhand/bimanual/p36-tea/scene.xml
+++ b/processed/gigahand/xhand/bimanual/p36-tea/scene.xml
@@ -4,12 +4,12 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <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="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="300"/>
@@ -46,12 +46,20 @@
     <mesh name="left_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link2.STL"/>
     <mesh name="right_0" file="objects/p36-tea/convex/0.obj"/>
     <mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
+    <mesh name="right_10" file="objects/p36-tea/convex/10.obj"/>
+    <mesh name="right_11" file="objects/p36-tea/convex/11.obj"/>
+    <mesh name="right_12" file="objects/p36-tea/convex/12.obj"/>
+    <mesh name="right_13" file="objects/p36-tea/convex/13.obj"/>
+    <mesh name="right_14" file="objects/p36-tea/convex/14.obj"/>
+    <mesh name="right_15" file="objects/p36-tea/convex/15.obj"/>
     <mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
     <mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
     <mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
     <mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
     <mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
     <mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
+    <mesh name="right_8" file="objects/p36-tea/convex/8.obj"/>
+    <mesh name="right_9" file="objects/p36-tea/convex/9.obj"/>
     <mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
   </asset>
 
@@ -78,27 +86,27 @@
                 <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
                 <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
                 <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
-                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
                 <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
                 <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
                   <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
                   <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
                   <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
-                  <geom name="collision_hand_right_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
                     <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
                     <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
                     <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
-                    <geom name="collision_hand_right_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
                       <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
                       <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
                       <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 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="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
                     </body>
                   </body>
                 </body>
@@ -110,16 +118,16 @@
                     <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                     <joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
-                    <geom name="collision_hand_right_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                       <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                       <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
-                      <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027"/>
                     </body>
                   </body>
                 </body>
@@ -127,48 +135,48 @@
                   <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566199" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
-                  <geom name="collision_hand_right_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
                     <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
-                    <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
                   <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
-                  <geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
-                    <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
                   <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
-                  <geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
-                    <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
               </body>
@@ -197,27 +205,27 @@
                 <inertial pos="-0.00718397 -0.00342396 -0.0584832" quat="0.712643 0.0910084 0.100904 0.688241" mass="0.529961" diaginertia="0.000678163 0.000491768 0.000335587"/>
                 <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
                 <geom name="left_hand_link_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_link"/>
-                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_left_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
                 <site name="left_palm" pos="0 0 0" quat="0 0.707107 -0.707107 0" size="0.01 0.02 0.03" type="box"/>
                 <body name="left_hand_thumb_bend_link" pos="0.0228 -0.0095 -0.0305">
                   <inertial pos="0.0145291 0.000901344 -0.000127912" quat="-0.028902 0.68936 -0.0167067 0.72365" mass="0.00985534" diaginertia="1.30648e-06 1.29142e-06 5.40957e-07"/>
                   <joint name="left_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 -1" range="0 1.83"/>
                   <geom name="left_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="left_hand_thumb_bend_link"/>
-                  <geom name="collision_hand_left_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_thumb_rota_link1" pos="0.028599 -0.0083177 0.00178" quat="0.99124 -0.130499 0.00265603 -0.0201745">
                     <inertial pos="0.0279279 0.000121046 -0.000277543" quat="0.0994744 0.703642 -0.0845458 0.698459" mass="0.153197" diaginertia="5.62164e-05 4.89587e-05 2.23807e-05"/>
                     <joint name="left_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
                     <geom name="left_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1"/>
-                    <geom name="collision_hand_left_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0">
                       <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
                       <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
                       <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="left_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.04 0 -0.012"/>
                     </body>
                   </body>
                 </body>
@@ -229,16 +237,16 @@
                     <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809181 0.0131314 0.00566203" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                     <joint name="left_hand_index_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_index_rota_link1"/>
-                    <geom name="collision_hand_left_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                       <joint name="left_hand_index_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                       <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
-                      <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="left_index_tip" pos="0 -0.004 -0.027"/>
+                      <site name="track_hand_left_index_tip" pos="0 -0.004 -0.027"/>
+                      <site name="trace_hand_left_index_tip" pos="0 -0.004 -0.027"/>
                     </body>
                   </body>
                 </body>
@@ -246,48 +254,48 @@
                   <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809181 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="left_hand_mid_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_mid_link1"/>
-                  <geom name="collision_hand_left_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338572 -1.93625e-05 -0.0231328" quat="0.935372 -0.00588866 0.0260883 0.352653" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="left_hand_mid_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
-                    <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="left_middle_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_middle_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
                   <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809184 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.13501e-06"/>
                   <joint name="left_hand_ring_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_ring_link1"/>
-                  <geom name="collision_hand_left_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="left_hand_ring_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
-                    <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="left_ring_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_ring_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
                   <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809183 0.0131314 0.00566202" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="left_hand_pinky_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_pinky_link1"/>
-                  <geom name="collision_hand_left_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338573 -1.93618e-05 -0.0231328" quat="0.935377 -0.00588901 0.0260881 0.35264" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="left_hand_pinky_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
-                    <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="left_pinky_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
               </body>
@@ -298,27 +306,35 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_15"/>
+      <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="0.0018825 0.0818593 -0.0269382" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="-0.0291577 0.0792714 0.0057566" 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"/>
-      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00187915 0.081854 -0.0269697" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0291784 0.0791531 0.00562098" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" size="0.01" 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"/>
@@ -354,7 +370,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -391,12 +407,20 @@
   <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_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" 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"/>
@@ -415,20 +439,36 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_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_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" 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_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_11" name="collision_hand_right_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_12" name="collision_hand_right_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_13" name="collision_hand_right_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_14" name="collision_hand_right_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_15" name="collision_hand_right_thumb_2_right_object_15" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -437,12 +477,20 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" 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_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_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_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_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_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_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_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="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"/>
@@ -460,12 +508,20 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -474,12 +530,20 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" 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_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_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_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_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_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_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_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="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"/>
@@ -496,12 +560,20 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -510,12 +582,20 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -531,12 +611,20 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -545,12 +633,20 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -565,12 +661,20 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -579,12 +683,20 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -598,12 +710,20 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" 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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -611,110 +731,206 @@
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/gigahand/xhand/bimanual/p36-tea/scene_eq.xml b/processed/gigahand/xhand/bimanual/p36-tea/scene_eq.xml
index ec755c00041977fc1cb61bc76432f20043d1cce5..7d7b10f9a8e59d06d3d04a6db3cb00778bb5792a 100644
--- a/processed/gigahand/xhand/bimanual/p36-tea/scene_eq.xml
+++ b/processed/gigahand/xhand/bimanual/p36-tea/scene_eq.xml
@@ -4,12 +4,12 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <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="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="300"/>
@@ -46,12 +46,20 @@
     <mesh name="left_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link2.STL"/>
     <mesh name="right_0" file="objects/p36-tea/convex/0.obj"/>
     <mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
+    <mesh name="right_10" file="objects/p36-tea/convex/10.obj"/>
+    <mesh name="right_11" file="objects/p36-tea/convex/11.obj"/>
+    <mesh name="right_12" file="objects/p36-tea/convex/12.obj"/>
+    <mesh name="right_13" file="objects/p36-tea/convex/13.obj"/>
+    <mesh name="right_14" file="objects/p36-tea/convex/14.obj"/>
+    <mesh name="right_15" file="objects/p36-tea/convex/15.obj"/>
     <mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
     <mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
     <mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
     <mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
     <mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
     <mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
+    <mesh name="right_8" file="objects/p36-tea/convex/8.obj"/>
+    <mesh name="right_9" file="objects/p36-tea/convex/9.obj"/>
     <mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
   </asset>
 
@@ -78,27 +86,27 @@
                 <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
                 <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
                 <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
-                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
                 <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
                 <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
                   <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
                   <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
                   <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
-                  <geom name="collision_hand_right_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
                     <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
                     <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
                     <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
-                    <geom name="collision_hand_right_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
                       <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
                       <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
                       <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 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="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
                     </body>
                   </body>
                 </body>
@@ -110,16 +118,16 @@
                     <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                     <joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
-                    <geom name="collision_hand_right_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                       <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                       <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
-                      <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027"/>
                     </body>
                   </body>
                 </body>
@@ -127,48 +135,48 @@
                   <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566199" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
-                  <geom name="collision_hand_right_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
                     <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
-                    <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
                   <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
-                  <geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
-                    <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
                   <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
-                  <geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
-                    <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
               </body>
@@ -197,27 +205,27 @@
                 <inertial pos="-0.00718397 -0.00342396 -0.0584832" quat="0.712643 0.0910084 0.100904 0.688241" mass="0.529961" diaginertia="0.000678163 0.000491768 0.000335587"/>
                 <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
                 <geom name="left_hand_link_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_link"/>
-                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_left_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
                 <site name="left_palm" pos="0 0 0" quat="0 0.707107 -0.707107 0" size="0.01 0.02 0.03" type="box"/>
                 <body name="left_hand_thumb_bend_link" pos="0.0228 -0.0095 -0.0305">
                   <inertial pos="0.0145291 0.000901344 -0.000127912" quat="-0.028902 0.68936 -0.0167067 0.72365" mass="0.00985534" diaginertia="1.30648e-06 1.29142e-06 5.40957e-07"/>
                   <joint name="left_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 -1" range="0 1.83"/>
                   <geom name="left_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="left_hand_thumb_bend_link"/>
-                  <geom name="collision_hand_left_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_thumb_rota_link1" pos="0.028599 -0.0083177 0.00178" quat="0.99124 -0.130499 0.00265603 -0.0201745">
                     <inertial pos="0.0279279 0.000121046 -0.000277543" quat="0.0994744 0.703642 -0.0845458 0.698459" mass="0.153197" diaginertia="5.62164e-05 4.89587e-05 2.23807e-05"/>
                     <joint name="left_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
                     <geom name="left_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1"/>
-                    <geom name="collision_hand_left_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0">
                       <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
                       <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
                       <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="left_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.04 0 -0.012"/>
                     </body>
                   </body>
                 </body>
@@ -229,16 +237,16 @@
                     <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809181 0.0131314 0.00566203" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                     <joint name="left_hand_index_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_index_rota_link1"/>
-                    <geom name="collision_hand_left_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                       <joint name="left_hand_index_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                       <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
-                      <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="left_index_tip" pos="0 -0.004 -0.027"/>
+                      <site name="track_hand_left_index_tip" pos="0 -0.004 -0.027"/>
+                      <site name="trace_hand_left_index_tip" pos="0 -0.004 -0.027"/>
                     </body>
                   </body>
                 </body>
@@ -246,48 +254,48 @@
                   <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809181 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="left_hand_mid_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_mid_link1"/>
-                  <geom name="collision_hand_left_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338572 -1.93625e-05 -0.0231328" quat="0.935372 -0.00588866 0.0260883 0.352653" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="left_hand_mid_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
-                    <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="left_middle_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_middle_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
                   <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809184 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.13501e-06"/>
                   <joint name="left_hand_ring_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_ring_link1"/>
-                  <geom name="collision_hand_left_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="left_hand_ring_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
-                    <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="left_ring_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_ring_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
                   <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809183 0.0131314 0.00566202" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="left_hand_pinky_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_pinky_link1"/>
-                  <geom name="collision_hand_left_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338573 -1.93618e-05 -0.0231328" quat="0.935377 -0.00588901 0.0260881 0.35264" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="left_hand_pinky_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
-                    <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="left_pinky_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
               </body>
@@ -298,27 +306,35 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_15"/>
+      <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="0.0018825 0.0818593 -0.0269382" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="-0.0291577 0.0792714 0.0057566" 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"/>
-      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00187915 0.081854 -0.0269697" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0291784 0.0791531 0.00562098" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" size="0.01" 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"/>
@@ -354,7 +370,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -391,12 +407,20 @@
   <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_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" 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"/>
@@ -415,20 +439,36 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_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_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" 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_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_11" name="collision_hand_right_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_12" name="collision_hand_right_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_13" name="collision_hand_right_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_14" name="collision_hand_right_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_15" name="collision_hand_right_thumb_2_right_object_15" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -437,12 +477,20 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" 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_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_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_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_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_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_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_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="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"/>
@@ -460,12 +508,20 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -474,12 +530,20 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" 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_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_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_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_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_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_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_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="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"/>
@@ -496,12 +560,20 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -510,12 +582,20 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -531,12 +611,20 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -545,12 +633,20 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -565,12 +661,20 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -579,12 +683,20 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -598,12 +710,20 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" 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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -611,110 +731,206 @@
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
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--- /dev/null
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-                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
@@ -269,9 +269,9 @@
                     <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
                     <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
@@ -285,9 +285,9 @@
                     <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
                     <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
               </body>
@@ -298,14 +298,14 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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"/>
diff --git a/processed/gigahand/xhand/bimanual/p44-dog/scene_eq.xml b/processed/gigahand/xhand/bimanual/p44-dog/scene_eq.xml
index adc765c4302974a5b9ae32f86bdf711f4d6ab962..3f2e4545397e097d7a4e7f426bd368d5ae0b469b 100644
--- a/processed/gigahand/xhand/bimanual/p44-dog/scene_eq.xml
+++ b/processed/gigahand/xhand/bimanual/p44-dog/scene_eq.xml
@@ -9,7 +9,7 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <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="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="300"/>
@@ -94,11 +94,11 @@
                       <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
                       <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
                       <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 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="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
                     </body>
                   </body>
                 </body>
@@ -117,9 +117,9 @@
                       <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
                       <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.005 -0.03"/>
                     </body>
                   </body>
                 </body>
@@ -134,9 +134,9 @@
                     <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
                     <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
@@ -150,9 +150,9 @@
                     <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
                     <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
@@ -166,9 +166,9 @@
                     <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
                     <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
               </body>
@@ -213,11 +213,11 @@
                       <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
                       <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
                       <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
                     </body>
                   </body>
                 </body>
@@ -236,9 +236,9 @@
                       <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
                       <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="track_hand_left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="trace_hand_left_index_tip" pos="0 -0.005 -0.03"/>
                     </body>
                   </body>
                 </body>
@@ -253,9 +253,9 @@
                     <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
                     <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
@@ -269,9 +269,9 @@
                     <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
                     <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
@@ -285,9 +285,9 @@
                     <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
                     <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
               </body>
@@ -298,14 +298,14 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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"/>
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_ikrollout.npz b/processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_ikrollout.npz
similarity index 100%
rename from processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_ikrollout.npz
rename to processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_ikrollout.npz
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_kinematic.npz b/processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_kinematic.npz
similarity index 100%
rename from processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_kinematic.npz
rename to processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_kinematic.npz
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_mjwp.npz b/processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_mjwp.npz
similarity index 100%
rename from processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_mjwp.npz
rename to processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_mjwp.npz
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_mjwpeq.npz b/processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_mjwpeq.npz
similarity index 100%
rename from processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_mjwpeq.npz
rename to processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_mjwpeq.npz
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/34/visualization_ik.mp4 b/processed/gigahand/xhand/bimanual/p52-instrument/0/visualization_ik.mp4
similarity index 100%
rename from processed/gigahand/xhand/bimanual/p52-instrument/34/visualization_ik.mp4
rename to processed/gigahand/xhand/bimanual/p52-instrument/0/visualization_ik.mp4
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/34/visualization_mjwp.mp4 b/processed/gigahand/xhand/bimanual/p52-instrument/0/visualization_mjwp.mp4
similarity index 100%
rename from processed/gigahand/xhand/bimanual/p52-instrument/34/visualization_mjwp.mp4
rename to processed/gigahand/xhand/bimanual/p52-instrument/0/visualization_mjwp.mp4
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/34/visualization_mjwpeq.mp4 b/processed/gigahand/xhand/bimanual/p52-instrument/0/visualization_mjwpeq.mp4
similarity index 100%
rename from processed/gigahand/xhand/bimanual/p52-instrument/34/visualization_mjwpeq.mp4
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index 9afaf2c91eb8f13dc2b3b9f24b637eaebb38e032..17afd74132fa66f02c9cd49d723150fbe0170bfe 100644
--- a/processed/gigahand/xhand/bimanual/summary.csv
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-task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,data_type,pos_err_threshold,quat_err_threshold,timestamp,data_id,obj_pos_err,obj_quat_err,success
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-p52-instrument,1,1,1.0,0.048070979713597785,0.0,0.16349417192646706,0.0,gigahand,xhand,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,34.0,0.048070979713597785,0.16349417192646706,True
-p36-tea,1,0,0.0,0.13654073147312762,0.0,0.7312109092762482,0.0,gigahand,xhand,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,10.0,0.13654073147312762,0.7312109092762482,False
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diff --git a/processed/oakink/ability/bimanual/complete_data.csv b/processed/oakink/ability/bimanual/complete_data.csv
index b07eddac88eccd98b90aed033fdf616bfec9e64c..82c60d125ba3b504a637a64bd6107a43e296fe15 100644
--- a/processed/oakink/ability/bimanual/complete_data.csv
+++ b/processed/oakink/ability/bimanual/complete_data.csv
@@ -1,8 +1,36 @@
-dataset,robot_type,hand_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
-oakink,ability,bimanual,mjwpeq,wipe_board,0,wipe_board/0,0.04258329072943019,0.14022235345826511,0.07926989507729856,0.005896686381561815,0.2360030529434004,0.044441653973129804,True,0.1,0.5
-oakink,ability,bimanual,mjwpeq,pour_tube,0,pour_tube/0,0.15605536879534646,1.0809137638399609,0.11037886129475995,0.20173187629593298,0.8915642137245108,1.2702633139554107,False,0.1,0.5
-oakink,ability,bimanual,mjwpeq,uncap_alcohol_burner,0,uncap_alcohol_burner/0,0.07214501183521041,0.15604205609188596,0.13276582182578317,0.011524201844637663,0.2554201580517484,0.05666395413202354,True,0.1,0.5
-oakink,ability,bimanual,mjwpeq,lift_board,0,lift_board/0,0.20689622897557905,0.3107060367427231,0.20689622897557905,1.5043952986040323e-05,0.3107060367427231,1.2375348239685592e-05,False,0.1,0.5
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-oakink,ability,bimanual,mjwpeq,unplug,0,unplug/0,0.03741436706689542,0.141386591603655,0.059026449071431605,0.015802285062359228,0.18420649419750035,0.09856668900980962,True,0.1,0.5
+dataset,robot_type,embodiment_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
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+oakink,ability,bimanual,mjwp,wipe_board,4,wipe_board/4,0.03350721402543762,0.3980939509274092,0.03350721402543762,0.008357682428873758,0.3980939509274092,0.17055131204575974,True,0.1,0.5
diff --git a/processed/oakink/ability/bimanual/lift_board/0/config.yaml b/processed/oakink/ability/bimanual/lift_board/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..46bf461411219983ee4dfef8139dddd26e2e1844
--- /dev/null
+++ b/processed/oakink/ability/bimanual/lift_board/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: ability
+embodiment_type: bimanual
+task: lift_board
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/lift_board/0/../scene.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/lift_board/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.8
+knot_dt: 0.4
+max_sim_steps: 472
+nconmax_per_env: 100
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
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+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/lift_board/4/trajectory_kinematic.npz
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+save_metrics: true
+save_config: true
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+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/lift_board/4
diff --git a/processed/oakink/ability/bimanual/lift_board/4/trajectory_kinematic.npz b/processed/oakink/ability/bimanual/lift_board/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2aa193868a39c14a7ac247ffeebd8f83317c3d41
--- /dev/null
+++ b/processed/oakink/ability/bimanual/lift_board/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
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+size 410604
diff --git a/processed/oakink/ability/bimanual/lift_board/4/trajectory_mjwp.npz b/processed/oakink/ability/bimanual/lift_board/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..16624e99c8f56570fc21c8fac056d127d26a63f6
--- /dev/null
+++ b/processed/oakink/ability/bimanual/lift_board/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 511294
diff --git a/processed/oakink/ability/bimanual/lift_board/4/visualization_mjwp.mp4 b/processed/oakink/ability/bimanual/lift_board/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..35b0fec214bdddb2b67819bea176ad43e5ffdba0
--- /dev/null
+++ b/processed/oakink/ability/bimanual/lift_board/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 522499
diff --git a/processed/oakink/ability/bimanual/lift_board/scene.xml b/processed/oakink/ability/bimanual/lift_board/scene.xml
index 1a0322479bbfc8a836ace93b5cf7521afff927b8..9377b5edf71d4bf18f082d4a70dea1aefa2ab670 100644
--- a/processed/oakink/ability/bimanual/lift_board/scene.xml
+++ b/processed/oakink/ability/bimanual/lift_board/scene.xml
@@ -4,13 +4,19 @@
   <default>
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-    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
-    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
+    <default class="right_base">
+      <general gainprm="300" biasprm="0 -300"/>
+    </default>
+    <default class="left_base">
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@@ -40,9 +46,21 @@
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     <mesh name="right_0" file="objects/O02@0018@00001/convex/0.obj"/>
     <mesh name="right_1" file="objects/O02@0018@00001/convex/1.obj"/>
+    <mesh name="right_10" file="objects/O02@0018@00001/convex/10.obj"/>
+    <mesh name="right_11" file="objects/O02@0018@00001/convex/11.obj"/>
+    <mesh name="right_12" file="objects/O02@0018@00001/convex/12.obj"/>
+    <mesh name="right_13" file="objects/O02@0018@00001/convex/13.obj"/>
+    <mesh name="right_14" file="objects/O02@0018@00001/convex/14.obj"/>
+    <mesh name="right_15" file="objects/O02@0018@00001/convex/15.obj"/>
+    <mesh name="right_16" file="objects/O02@0018@00001/convex/16.obj"/>
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     <mesh name="right_3" file="objects/O02@0018@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0018@00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0018@00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0018@00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0018@00001/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0018@00001/convex/8.obj"/>
+    <mesh name="right_9" file="objects/O02@0018@00001/convex/9.obj"/>
     <mesh name="right_visual" file="objects/O02@0018@00001/visual.obj"/>
   </asset>
 
@@ -86,10 +104,10 @@
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-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.012 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
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+                    <site name="track_hand_right_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.059 0.025 0"/>
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@@ -108,10 +126,10 @@
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-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0"/>
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+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
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@@ -130,10 +148,10 @@
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-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
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+                    <site name="right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
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@@ -152,10 +170,10 @@
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-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
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+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
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@@ -174,10 +192,10 @@
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-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
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+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
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@@ -222,10 +240,10 @@
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-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.01 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0"/>
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@@ -244,10 +262,10 @@
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-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
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+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
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@@ -266,10 +284,10 @@
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-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
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+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
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@@ -288,10 +306,10 @@
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@@ -310,10 +328,10 @@
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                   </body>
                 </body>
               </body>
@@ -324,24 +342,36 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <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_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_15"/>
+      <geom name="right_object_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_16"/>
+      <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"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0475256 0.0992082 -0.141567" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.000322079 0.0841274 -0.176095" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0024399 0.0708744 -0.184502" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0179018 0.0673458 -0.188854" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0527041 0.0682769 -0.196661" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.0346916 0.0966582 0.171445" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="-0.019677 0.0715001 0.187798" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="-0.00359232 0.0669317 0.188805" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0279011 0.0667714 0.190295" size="0.01" 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"/>
@@ -377,7 +407,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -414,9 +444,21 @@
   <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_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_16" name="floor_right_object_16" 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"/>
@@ -446,6 +488,27 @@
     <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_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_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_1" geom2="right_object_10" name="collision_hand_right_palm_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_10" name="collision_hand_right_palm_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_11" name="collision_hand_right_palm_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_11" name="collision_hand_right_palm_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_12" name="collision_hand_right_palm_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_12" name="collision_hand_right_palm_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_13" name="collision_hand_right_palm_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_13" name="collision_hand_right_palm_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_14" name="collision_hand_right_palm_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_14" name="collision_hand_right_palm_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_15" name="collision_hand_right_palm_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_15" name="collision_hand_right_palm_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_16" name="collision_hand_right_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_16" name="collision_hand_right_palm_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_16" name="collision_hand_right_palm_2_right_object_16" 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_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
@@ -455,6 +518,21 @@
     <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_1" geom2="right_object_4" name="collision_hand_right_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_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_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_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_1" geom2="right_object_6" name="collision_hand_right_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_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_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_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_1" geom2="right_object_8" name="collision_hand_right_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_8" name="collision_hand_right_palm_2_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_palm_1" geom2="right_object_9" name="collision_hand_right_palm_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_9" name="collision_hand_right_palm_2_right_object_9" 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"/>
@@ -473,9 +551,21 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_16" name="collision_hand_right_thumb_0_right_object_16" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -484,9 +574,21 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_16" name="collision_hand_right_index_1_right_object_16" 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_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_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_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_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_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_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_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="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"/>
@@ -504,9 +606,21 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_16" name="collision_hand_right_index_0_right_object_16" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -515,9 +629,21 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_16" name="collision_hand_right_middle_1_right_object_16" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -534,9 +660,21 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_16" name="collision_hand_right_middle_0_right_object_16" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -545,9 +683,21 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_16" name="collision_hand_right_ring_1_right_object_16" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
@@ -563,9 +713,21 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_16" name="collision_hand_right_ring_0_right_object_16" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -574,9 +736,21 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_16" name="collision_hand_right_pinky_1_right_object_16" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -591,9 +765,21 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_16" name="collision_hand_right_pinky_0_right_object_16" 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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -605,6 +791,27 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_10" name="collision_hand_left_palm_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_10" name="collision_hand_left_palm_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_11" name="collision_hand_left_palm_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_11" name="collision_hand_left_palm_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_12" name="collision_hand_left_palm_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_12" name="collision_hand_left_palm_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_13" name="collision_hand_left_palm_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_13" name="collision_hand_left_palm_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_14" name="collision_hand_left_palm_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_14" name="collision_hand_left_palm_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_15" name="collision_hand_left_palm_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_15" name="collision_hand_left_palm_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_16" name="collision_hand_left_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_16" name="collision_hand_left_palm_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_16" name="collision_hand_left_palm_2_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
@@ -614,16 +821,55 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_8" name="collision_hand_left_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_8" name="collision_hand_left_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_9" name="collision_hand_left_palm_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_9" name="collision_hand_left_palm_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_10" name="collision_hand_left_thumb_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_11" name="collision_hand_left_thumb_3_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_12" name="collision_hand_left_thumb_3_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_13" name="collision_hand_left_thumb_3_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_14" name="collision_hand_left_thumb_3_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_15" name="collision_hand_left_thumb_3_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_16" name="collision_hand_left_thumb_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_16" name="collision_hand_left_thumb_3_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_3" name="collision_hand_left_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_8" name="collision_hand_left_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_9" name="collision_hand_left_thumb_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -632,12 +878,36 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_16" name="collision_hand_left_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_16" name="collision_hand_left_thumb_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -650,6 +920,48 @@
     <pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_10" name="collision_hand_left_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_10" name="collision_hand_left_index_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_10" name="collision_hand_left_index_4_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_10" name="collision_hand_left_index_5_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_10" name="collision_hand_left_index_6_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_11" name="collision_hand_left_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_11" name="collision_hand_left_index_3_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_11" name="collision_hand_left_index_4_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_11" name="collision_hand_left_index_5_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_11" name="collision_hand_left_index_6_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_12" name="collision_hand_left_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_12" name="collision_hand_left_index_3_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_12" name="collision_hand_left_index_4_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_12" name="collision_hand_left_index_5_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_12" name="collision_hand_left_index_6_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_13" name="collision_hand_left_index_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_13" name="collision_hand_left_index_3_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_13" name="collision_hand_left_index_4_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_13" name="collision_hand_left_index_5_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_13" name="collision_hand_left_index_6_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_14" name="collision_hand_left_index_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_14" name="collision_hand_left_index_3_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_14" name="collision_hand_left_index_4_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_14" name="collision_hand_left_index_5_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_14" name="collision_hand_left_index_6_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_15" name="collision_hand_left_index_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_15" name="collision_hand_left_index_3_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_15" name="collision_hand_left_index_4_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_15" name="collision_hand_left_index_5_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_15" name="collision_hand_left_index_6_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_15" name="collision_hand_left_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_16" name="collision_hand_left_index_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_16" name="collision_hand_left_index_3_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_16" name="collision_hand_left_index_4_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_16" name="collision_hand_left_index_5_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_16" name="collision_hand_left_index_6_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_16" name="collision_hand_left_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -668,56 +980,170 @@
     <pair geom1="collision_hand_left_index_5" geom2="right_object_4" name="collision_hand_left_index_5_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_4" name="collision_hand_left_index_6_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_5" name="collision_hand_left_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_5" name="collision_hand_left_index_4_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_5" name="collision_hand_left_index_5_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_5" name="collision_hand_left_index_6_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_6" name="collision_hand_left_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_6" name="collision_hand_left_index_4_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_6" name="collision_hand_left_index_5_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_6" name="collision_hand_left_index_6_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_7" name="collision_hand_left_index_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_7" name="collision_hand_left_index_4_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_8" name="collision_hand_left_index_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_8" name="collision_hand_left_index_4_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_8" name="collision_hand_left_index_5_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_8" name="collision_hand_left_index_6_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_9" name="collision_hand_left_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_9" name="collision_hand_left_index_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_9" name="collision_hand_left_index_4_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_9" name="collision_hand_left_index_5_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_9" name="collision_hand_left_index_6_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_16" name="collision_hand_left_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_16" name="collision_hand_left_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_16" name="collision_hand_left_middle_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_16" name="collision_hand_left_ring_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_16" name="collision_hand_left_ring_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_16" name="collision_hand_left_pinky_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_16" name="collision_hand_left_pinky_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
   </contact>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -728,12 +1154,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/oakink/ability/bimanual/lift_board/scene_eq.xml b/processed/oakink/ability/bimanual/lift_board/scene_eq.xml
index 1fe0b6f11b71c6bf47764364fca0181c80765582..ece7a80e61c9da28f295e86baa25b580eec9365f 100644
--- a/processed/oakink/ability/bimanual/lift_board/scene_eq.xml
+++ b/processed/oakink/ability/bimanual/lift_board/scene_eq.xml
@@ -4,13 +4,19 @@
   <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"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
+    <default class="right_base">
+      <general gainprm="300" biasprm="0 -300"/>
+    </default>
+    <default class="left_base">
+      <general gainprm="300" biasprm="0 -300"/>
+    </default>
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -40,9 +46,21 @@
     <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
     <mesh name="right_0" file="objects/O02@0018@00001/convex/0.obj"/>
     <mesh name="right_1" file="objects/O02@0018@00001/convex/1.obj"/>
+    <mesh name="right_10" file="objects/O02@0018@00001/convex/10.obj"/>
+    <mesh name="right_11" file="objects/O02@0018@00001/convex/11.obj"/>
+    <mesh name="right_12" file="objects/O02@0018@00001/convex/12.obj"/>
+    <mesh name="right_13" file="objects/O02@0018@00001/convex/13.obj"/>
+    <mesh name="right_14" file="objects/O02@0018@00001/convex/14.obj"/>
+    <mesh name="right_15" file="objects/O02@0018@00001/convex/15.obj"/>
+    <mesh name="right_16" file="objects/O02@0018@00001/convex/16.obj"/>
     <mesh name="right_2" file="objects/O02@0018@00001/convex/2.obj"/>
     <mesh name="right_3" file="objects/O02@0018@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0018@00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0018@00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0018@00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0018@00001/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0018@00001/convex/8.obj"/>
+    <mesh name="right_9" file="objects/O02@0018@00001/convex/9.obj"/>
     <mesh name="right_visual" file="objects/O02@0018@00001/visual.obj"/>
   </asset>
 
@@ -86,10 +104,10 @@
                     <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
                     <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
-                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.012 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
@@ -108,10 +126,10 @@
                     <geom name="right_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
-                    <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_index_0" size="0.01 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
@@ -130,10 +148,10 @@
                     <geom name="right_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
-                    <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_middle_0" size="0.01 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
@@ -152,10 +170,10 @@
                     <geom name="right_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
-                    <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_ring_0" size="0.01 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
@@ -174,10 +192,10 @@
                     <geom name="right_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
-                    <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.01 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -222,10 +240,10 @@
                     <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
-                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.01 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -244,10 +262,10 @@
                     <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
-                    <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_index_0" size="0.01 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -266,10 +284,10 @@
                     <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
-                    <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_middle_0" size="0.01 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -288,10 +306,10 @@
                     <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
-                    <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_ring_0" size="0.01 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -310,10 +328,10 @@
                     <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
-                    <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.01 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -324,24 +342,36 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <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_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_15"/>
+      <geom name="right_object_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_16"/>
+      <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"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0475256 0.0992082 -0.141567" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.000322079 0.0841274 -0.176095" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0024399 0.0708744 -0.184502" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0179018 0.0673458 -0.188854" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0527041 0.0682769 -0.196661" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.0346916 0.0966582 0.171445" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="-0.019677 0.0715001 0.187798" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="-0.00359232 0.0669317 0.188805" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0279011 0.0667714 0.190295" size="0.01" 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"/>
@@ -377,7 +407,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -414,9 +444,21 @@
   <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_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_16" name="floor_right_object_16" 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"/>
@@ -446,6 +488,27 @@
     <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_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_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_1" geom2="right_object_10" name="collision_hand_right_palm_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_10" name="collision_hand_right_palm_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_11" name="collision_hand_right_palm_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_11" name="collision_hand_right_palm_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_12" name="collision_hand_right_palm_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_12" name="collision_hand_right_palm_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_13" name="collision_hand_right_palm_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_13" name="collision_hand_right_palm_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_14" name="collision_hand_right_palm_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_14" name="collision_hand_right_palm_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_15" name="collision_hand_right_palm_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_15" name="collision_hand_right_palm_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_16" name="collision_hand_right_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_16" name="collision_hand_right_palm_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_16" name="collision_hand_right_palm_2_right_object_16" 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_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
@@ -455,6 +518,21 @@
     <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_1" geom2="right_object_4" name="collision_hand_right_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_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_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_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_1" geom2="right_object_6" name="collision_hand_right_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_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_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_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_1" geom2="right_object_8" name="collision_hand_right_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_8" name="collision_hand_right_palm_2_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_palm_1" geom2="right_object_9" name="collision_hand_right_palm_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_9" name="collision_hand_right_palm_2_right_object_9" 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"/>
@@ -473,9 +551,21 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_16" name="collision_hand_right_thumb_0_right_object_16" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -484,9 +574,21 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_16" name="collision_hand_right_index_1_right_object_16" 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_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_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_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_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_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_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_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="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"/>
@@ -504,9 +606,21 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_16" name="collision_hand_right_index_0_right_object_16" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -515,9 +629,21 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_16" name="collision_hand_right_middle_1_right_object_16" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -534,9 +660,21 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_16" name="collision_hand_right_middle_0_right_object_16" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -545,9 +683,21 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_16" name="collision_hand_right_ring_1_right_object_16" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
@@ -563,9 +713,21 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_16" name="collision_hand_right_ring_0_right_object_16" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -574,9 +736,21 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_16" name="collision_hand_right_pinky_1_right_object_16" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -591,9 +765,21 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_16" name="collision_hand_right_pinky_0_right_object_16" 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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -605,6 +791,27 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_10" name="collision_hand_left_palm_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_10" name="collision_hand_left_palm_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_11" name="collision_hand_left_palm_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_11" name="collision_hand_left_palm_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_12" name="collision_hand_left_palm_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_12" name="collision_hand_left_palm_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_13" name="collision_hand_left_palm_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_13" name="collision_hand_left_palm_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_14" name="collision_hand_left_palm_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_14" name="collision_hand_left_palm_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_15" name="collision_hand_left_palm_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_15" name="collision_hand_left_palm_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_16" name="collision_hand_left_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_16" name="collision_hand_left_palm_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_16" name="collision_hand_left_palm_2_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
@@ -614,16 +821,55 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_8" name="collision_hand_left_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_8" name="collision_hand_left_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_9" name="collision_hand_left_palm_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_9" name="collision_hand_left_palm_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_10" name="collision_hand_left_thumb_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_11" name="collision_hand_left_thumb_3_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_12" name="collision_hand_left_thumb_3_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_13" name="collision_hand_left_thumb_3_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_14" name="collision_hand_left_thumb_3_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_15" name="collision_hand_left_thumb_3_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_16" name="collision_hand_left_thumb_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_16" name="collision_hand_left_thumb_3_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_3" name="collision_hand_left_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_8" name="collision_hand_left_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_9" name="collision_hand_left_thumb_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -632,12 +878,36 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_16" name="collision_hand_left_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_16" name="collision_hand_left_thumb_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -650,6 +920,48 @@
     <pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_10" name="collision_hand_left_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_10" name="collision_hand_left_index_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_10" name="collision_hand_left_index_4_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_10" name="collision_hand_left_index_5_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_10" name="collision_hand_left_index_6_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_11" name="collision_hand_left_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_11" name="collision_hand_left_index_3_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_11" name="collision_hand_left_index_4_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_11" name="collision_hand_left_index_5_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_11" name="collision_hand_left_index_6_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_12" name="collision_hand_left_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_12" name="collision_hand_left_index_3_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_12" name="collision_hand_left_index_4_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_12" name="collision_hand_left_index_5_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_12" name="collision_hand_left_index_6_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_13" name="collision_hand_left_index_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_13" name="collision_hand_left_index_3_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_13" name="collision_hand_left_index_4_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_13" name="collision_hand_left_index_5_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_13" name="collision_hand_left_index_6_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_14" name="collision_hand_left_index_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_14" name="collision_hand_left_index_3_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_14" name="collision_hand_left_index_4_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_14" name="collision_hand_left_index_5_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_14" name="collision_hand_left_index_6_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_15" name="collision_hand_left_index_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_15" name="collision_hand_left_index_3_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_15" name="collision_hand_left_index_4_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_15" name="collision_hand_left_index_5_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_15" name="collision_hand_left_index_6_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_15" name="collision_hand_left_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_16" name="collision_hand_left_index_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_16" name="collision_hand_left_index_3_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_16" name="collision_hand_left_index_4_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_16" name="collision_hand_left_index_5_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_16" name="collision_hand_left_index_6_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_16" name="collision_hand_left_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -668,47 +980,161 @@
     <pair geom1="collision_hand_left_index_5" geom2="right_object_4" name="collision_hand_left_index_5_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_4" name="collision_hand_left_index_6_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_5" name="collision_hand_left_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_5" name="collision_hand_left_index_4_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_5" name="collision_hand_left_index_5_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_5" name="collision_hand_left_index_6_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_6" name="collision_hand_left_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_6" name="collision_hand_left_index_4_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_6" name="collision_hand_left_index_5_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_6" name="collision_hand_left_index_6_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_7" name="collision_hand_left_index_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_7" name="collision_hand_left_index_4_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_8" name="collision_hand_left_index_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_8" name="collision_hand_left_index_4_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_8" name="collision_hand_left_index_5_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_8" name="collision_hand_left_index_6_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_9" name="collision_hand_left_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_9" name="collision_hand_left_index_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_9" name="collision_hand_left_index_4_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_9" name="collision_hand_left_index_5_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_9" name="collision_hand_left_index_6_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_16" name="collision_hand_left_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_16" name="collision_hand_left_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_16" name="collision_hand_left_middle_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_16" name="collision_hand_left_ring_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_16" name="collision_hand_left_ring_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_16" name="collision_hand_left_pinky_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_16" name="collision_hand_left_pinky_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
   </contact>
 
   <equality>
@@ -735,12 +1161,12 @@
   </equality>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -751,12 +1177,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/oakink/ability/bimanual/lift_board/task_info.json b/processed/oakink/ability/bimanual/lift_board/task_info.json
index 936217038dfa1e482192fd05762252ee41294af1..1d08d32e1519260fbac2824d52bec679171df56a 100644
--- a/processed/oakink/ability/bimanual/lift_board/task_info.json
+++ b/processed/oakink/ability/bimanual/lift_board/task_info.json
@@ -2,9 +2,10 @@
   "task": "lift_board",
   "dataset_name": "oakink",
   "robot_type": "ability",
-  "hand_type": "bimanual",
+  "embodiment_type": "bimanual",
   "data_id": 0,
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0018@00001",
   "left_object_mesh_dir": null,
+  "ref_dt": 0.02,
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/pick_spoon_bowl/0/config.yaml b/processed/oakink/ability/bimanual/pick_spoon_bowl/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c605f15e208ca055f238b24bd811574f783cdc6d
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pick_spoon_bowl/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: ability
+embodiment_type: bimanual
+task: pick_spoon_bowl
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/pick_spoon_bowl/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 3480
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+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: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 50
+- 3
+- 6
+- 9
+- 12
+- 15
+- 19
+- 22
+- 25
+- 28
+- 31
+horizon_steps: 200
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 46
+nv: 44
+nu: 32
+npair: 891
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/pick_spoon_bowl/0
diff --git a/processed/oakink/ability/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz b/processed/oakink/ability/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz
index 873f918d40fdcbfe382b80a729ee0780733c76b3..88467bc45fc33bcdeb688cac3006fe239970a0f4 100644
--- a/processed/oakink/ability/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz
+++ b/processed/oakink/ability/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
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-size 640950
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diff --git a/processed/oakink/ability/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz b/processed/oakink/ability/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
index fc78653dab9418c7667304ffbc90a059ab1f8ff6..a3a4b35e5e92bae4cc48126884f155a69444abe5 100644
--- a/processed/oakink/ability/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
+++ b/processed/oakink/ability/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/ability/bimanual/pick_spoon_bowl/0/trajectory_mjwp.npz b/processed/oakink/ability/bimanual/pick_spoon_bowl/0/trajectory_mjwp.npz
index 8aa5fde575a09f525723370622d15d28ff05983f..e5d5940450f2392776cf8f9f7f6d8e18248d6ecb 100644
--- a/processed/oakink/ability/bimanual/pick_spoon_bowl/0/trajectory_mjwp.npz
+++ b/processed/oakink/ability/bimanual/pick_spoon_bowl/0/trajectory_mjwp.npz
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/ability/bimanual/pick_spoon_bowl/0/visualization_ik.mp4 b/processed/oakink/ability/bimanual/pick_spoon_bowl/0/visualization_ik.mp4
index baf0cf7a891b135e11a86993984000fa50cca056..ed716196053b039dddb470704dfbb24f088ef70c 100644
--- a/processed/oakink/ability/bimanual/pick_spoon_bowl/0/visualization_ik.mp4
+++ b/processed/oakink/ability/bimanual/pick_spoon_bowl/0/visualization_ik.mp4
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/ability/bimanual/pick_spoon_bowl/0/visualization_mjwp.mp4 b/processed/oakink/ability/bimanual/pick_spoon_bowl/0/visualization_mjwp.mp4
index a80cb3164f946f2dc724c722eb239e183a00067d..4027029fd3a780b9f672f9cd5362c45d4007ad1a 100644
--- a/processed/oakink/ability/bimanual/pick_spoon_bowl/0/visualization_mjwp.mp4
+++ b/processed/oakink/ability/bimanual/pick_spoon_bowl/0/visualization_mjwp.mp4
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/ability/bimanual/pick_spoon_bowl/1/trajectory_ikrollout.npz b/processed/oakink/ability/bimanual/pick_spoon_bowl/1/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8f8752373148a76555e5b41c5c3969395281d1b9
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pick_spoon_bowl/1/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/ability/bimanual/pick_spoon_bowl/1/trajectory_kinematic.npz b/processed/oakink/ability/bimanual/pick_spoon_bowl/1/trajectory_kinematic.npz
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/ability/bimanual/pick_spoon_bowl/1/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/ability/bimanual/pick_spoon_bowl/1/trajectory_mjwp.npz b/processed/oakink/ability/bimanual/pick_spoon_bowl/1/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f209e64004344222afc87b7d762caa2115adc7f2
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pick_spoon_bowl/1/trajectory_mjwp.npz
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-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
@@ -138,9 +153,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
@@ -160,9 +175,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
@@ -182,9 +197,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -230,9 +245,9 @@
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
                     <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="left_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.065 0.028 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -252,9 +267,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -274,9 +289,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -296,9 +311,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -318,9 +333,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -331,17 +346,25 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <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="-0.00682591 0.0121744 -0.0420295" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="-0.00191084 -0.00259587 -0.0370777" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.00721628 -0.0105786 -0.0250953" 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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.00682591 0.0121744 -0.0420295" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.00191084 -0.00259587 -0.0370777" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0164644 -0.00853783 -0.0262709" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.00495252 -0.0202771 -0.0173211" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" 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"/>
@@ -375,22 +398,23 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="-0.052259 -0.0330764 0.0415308" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="-0.0679741 -0.00481394 -0.00183686" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="-0.0552835 -0.0234353 -0.0234553" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="-0.0604843 -0.0324865 -0.0268512" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.052259 -0.0330764 0.0415308" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.0679741 -0.00481394 -0.00183686" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="-0.0552835 -0.0234353 -0.0234553" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="-0.0633333 -0.0293595 -0.0291899" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="-0.0823454 -0.0448743 -0.0422737" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -427,7 +451,15 @@
   <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -436,6 +468,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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"/>
@@ -465,9 +498,33 @@
     <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_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_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_1" geom2="right_object_10" name="collision_hand_right_palm_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_10" name="collision_hand_right_palm_2_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_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_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_1" geom2="right_object_3" name="collision_hand_right_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_3" name="collision_hand_right_palm_2_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_1" geom2="right_object_4" name="collision_hand_right_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_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_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_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_1" geom2="right_object_6" name="collision_hand_right_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_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_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_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_1" geom2="right_object_8" name="collision_hand_right_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_8" name="collision_hand_right_palm_2_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_palm_1" geom2="right_object_9" name="collision_hand_right_palm_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_9" name="collision_hand_right_palm_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
@@ -492,6 +549,9 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_7" name="collision_hand_right_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_7" name="collision_hand_right_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_8" name="collision_hand_right_palm_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_8" name="collision_hand_right_palm_2_left_object_8" 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"/>
@@ -510,7 +570,15 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_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_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_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_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -519,6 +587,7 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -527,7 +596,15 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -536,6 +613,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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"/>
@@ -553,7 +631,15 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" 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_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_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_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_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_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_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_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_index_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -562,6 +648,7 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -570,7 +657,15 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -579,6 +674,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -595,7 +691,15 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_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_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_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -604,6 +708,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -612,7 +717,15 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -621,6 +734,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
@@ -636,7 +750,15 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_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_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_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -645,6 +767,7 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -653,7 +776,15 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -662,6 +793,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -676,7 +808,15 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -685,6 +825,7 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -696,9 +837,33 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_10" name="collision_hand_left_palm_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_10" name="collision_hand_left_palm_2_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_3" name="collision_hand_left_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_3" name="collision_hand_left_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_8" name="collision_hand_left_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_8" name="collision_hand_left_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_9" name="collision_hand_left_palm_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_9" name="collision_hand_left_palm_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
@@ -723,12 +888,31 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_7" name="collision_hand_left_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_7" name="collision_hand_left_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_8" name="collision_hand_left_palm_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_8" name="collision_hand_left_palm_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_10" name="collision_hand_left_thumb_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_3" name="collision_hand_left_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_8" name="collision_hand_left_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_9" name="collision_hand_left_thumb_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -745,6 +929,8 @@
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_6" name="collision_hand_left_thumb_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_7" name="collision_hand_left_thumb_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_8" name="collision_hand_left_thumb_3_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -753,8 +939,24 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -771,6 +973,8 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -783,12 +987,60 @@
     <pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_10" name="collision_hand_left_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_10" name="collision_hand_left_index_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_10" name="collision_hand_left_index_4_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_10" name="collision_hand_left_index_5_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_10" name="collision_hand_left_index_6_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_5" geom2="right_object_2" name="collision_hand_left_index_5_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_2" name="collision_hand_left_index_6_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_3" name="collision_hand_left_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_3" name="collision_hand_left_index_4_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_3" name="collision_hand_left_index_5_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_3" name="collision_hand_left_index_6_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_4" name="collision_hand_left_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_4" name="collision_hand_left_index_4_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_4" name="collision_hand_left_index_5_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_4" name="collision_hand_left_index_6_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_5" name="collision_hand_left_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_5" name="collision_hand_left_index_4_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_5" name="collision_hand_left_index_5_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_5" name="collision_hand_left_index_6_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_6" name="collision_hand_left_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_6" name="collision_hand_left_index_4_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_6" name="collision_hand_left_index_5_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_6" name="collision_hand_left_index_6_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_7" name="collision_hand_left_index_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_7" name="collision_hand_left_index_4_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_8" name="collision_hand_left_index_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_8" name="collision_hand_left_index_4_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_8" name="collision_hand_left_index_5_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_8" name="collision_hand_left_index_6_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_9" name="collision_hand_left_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_9" name="collision_hand_left_index_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_9" name="collision_hand_left_index_4_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_9" name="collision_hand_left_index_5_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_9" name="collision_hand_left_index_6_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="left_object_0" name="collision_hand_left_index_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="left_object_0" name="collision_hand_left_index_4_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -837,12 +1089,26 @@
     <pair geom1="collision_hand_left_index_5" geom2="left_object_7" name="collision_hand_left_index_5_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="left_object_7" name="collision_hand_left_index_6_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_8" name="collision_hand_left_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_8" name="collision_hand_left_index_3_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_8" name="collision_hand_left_index_4_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_8" name="collision_hand_left_index_5_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_8" name="collision_hand_left_index_6_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -851,9 +1117,18 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -862,11 +1137,20 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -875,9 +1159,18 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -886,10 +1179,19 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -898,9 +1200,18 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -909,9 +1220,18 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -920,6 +1240,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -928,6 +1249,7 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -936,6 +1258,16 @@
     <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_0" name="right_object_10_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_1" name="right_object_10_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_2" name="right_object_10_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_3" name="right_object_10_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_4" name="right_object_10_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_5" name="right_object_10_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_6" name="right_object_10_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_7" name="right_object_10_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_8" name="right_object_10_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -944,15 +1276,79 @@
     <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_0" name="right_object_9_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_1" name="right_object_9_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_2" name="right_object_9_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_3" name="right_object_9_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_4" name="right_object_9_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_5" name="right_object_9_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_6" name="right_object_9_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_7" name="right_object_9_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_8" name="right_object_9_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -963,12 +1359,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/oakink/ability/bimanual/pick_spoon_bowl/scene_eq.xml b/processed/oakink/ability/bimanual/pick_spoon_bowl/scene_eq.xml
index e56aa08e25a9fde511ca73c84cd32800f0add28a..0c3e438b947d8ee1dda107ddac1431a2added56d 100644
--- a/processed/oakink/ability/bimanual/pick_spoon_bowl/scene_eq.xml
+++ b/processed/oakink/ability/bimanual/pick_spoon_bowl/scene_eq.xml
@@ -4,13 +4,19 @@
   <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"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
+    <default class="right_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
+    <default class="left_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -40,7 +46,15 @@
     <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.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"/>
     <mesh name="left_0" file="objects/C12001/convex/0.obj"/>
     <mesh name="left_1" file="objects/C12001/convex/1.obj"/>
     <mesh name="left_2" file="objects/C12001/convex/2.obj"/>
@@ -49,6 +63,7 @@
     <mesh name="left_5" file="objects/C12001/convex/5.obj"/>
     <mesh name="left_6" file="objects/C12001/convex/6.obj"/>
     <mesh name="left_7" file="objects/C12001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/C12001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0030@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/C12001/visual.obj"/>
   </asset>
@@ -94,9 +109,9 @@
                     <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
                     <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
                     <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="right_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.065 0.028 0"/>
                   </body>
                 </body>
                 <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
@@ -116,9 +131,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
@@ -138,9 +153,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
@@ -160,9 +175,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
@@ -182,9 +197,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -230,9 +245,9 @@
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
                     <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="left_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.065 0.028 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -252,9 +267,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -274,9 +289,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -296,9 +311,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -318,9 +333,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -331,17 +346,25 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <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="-0.00682591 0.0121744 -0.0420295" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="-0.00191084 -0.00259587 -0.0370777" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.00721628 -0.0105786 -0.0250953" 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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.00682591 0.0121744 -0.0420295" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.00191084 -0.00259587 -0.0370777" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0164644 -0.00853783 -0.0262709" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.00495252 -0.0202771 -0.0173211" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" 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"/>
@@ -375,22 +398,23 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="-0.052259 -0.0330764 0.0415308" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="-0.0679741 -0.00481394 -0.00183686" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="-0.0552835 -0.0234353 -0.0234553" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="-0.0604843 -0.0324865 -0.0268512" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.052259 -0.0330764 0.0415308" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.0679741 -0.00481394 -0.00183686" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="-0.0552835 -0.0234353 -0.0234553" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="-0.0633333 -0.0293595 -0.0291899" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="-0.0823454 -0.0448743 -0.0422737" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -427,7 +451,15 @@
   <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -436,6 +468,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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"/>
@@ -465,9 +498,33 @@
     <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_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_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_1" geom2="right_object_10" name="collision_hand_right_palm_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_10" name="collision_hand_right_palm_2_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_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_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_1" geom2="right_object_3" name="collision_hand_right_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_3" name="collision_hand_right_palm_2_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_1" geom2="right_object_4" name="collision_hand_right_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_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_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_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_1" geom2="right_object_6" name="collision_hand_right_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_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_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_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_1" geom2="right_object_8" name="collision_hand_right_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_8" name="collision_hand_right_palm_2_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_palm_1" geom2="right_object_9" name="collision_hand_right_palm_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_9" name="collision_hand_right_palm_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
@@ -492,6 +549,9 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_7" name="collision_hand_right_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_7" name="collision_hand_right_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_8" name="collision_hand_right_palm_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_8" name="collision_hand_right_palm_2_left_object_8" 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"/>
@@ -510,7 +570,15 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_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_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_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_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -519,6 +587,7 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -527,7 +596,15 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -536,6 +613,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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"/>
@@ -553,7 +631,15 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" 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_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_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_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_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_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_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_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_index_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -562,6 +648,7 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -570,7 +657,15 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -579,6 +674,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -595,7 +691,15 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_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_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_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -604,6 +708,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -612,7 +717,15 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -621,6 +734,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
@@ -636,7 +750,15 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_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_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_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -645,6 +767,7 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -653,7 +776,15 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -662,6 +793,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -676,7 +808,15 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -685,6 +825,7 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -696,9 +837,33 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_10" name="collision_hand_left_palm_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_10" name="collision_hand_left_palm_2_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_3" name="collision_hand_left_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_3" name="collision_hand_left_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_8" name="collision_hand_left_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_8" name="collision_hand_left_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_9" name="collision_hand_left_palm_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_9" name="collision_hand_left_palm_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
@@ -723,12 +888,31 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_7" name="collision_hand_left_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_7" name="collision_hand_left_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_8" name="collision_hand_left_palm_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_8" name="collision_hand_left_palm_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_10" name="collision_hand_left_thumb_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_3" name="collision_hand_left_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_8" name="collision_hand_left_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_9" name="collision_hand_left_thumb_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -745,6 +929,8 @@
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_6" name="collision_hand_left_thumb_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_7" name="collision_hand_left_thumb_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_8" name="collision_hand_left_thumb_3_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -753,8 +939,24 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -771,6 +973,8 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -783,12 +987,60 @@
     <pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_10" name="collision_hand_left_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_10" name="collision_hand_left_index_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_10" name="collision_hand_left_index_4_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_10" name="collision_hand_left_index_5_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_10" name="collision_hand_left_index_6_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_5" geom2="right_object_2" name="collision_hand_left_index_5_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_2" name="collision_hand_left_index_6_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_3" name="collision_hand_left_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_3" name="collision_hand_left_index_4_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_3" name="collision_hand_left_index_5_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_3" name="collision_hand_left_index_6_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_4" name="collision_hand_left_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_4" name="collision_hand_left_index_4_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_4" name="collision_hand_left_index_5_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_4" name="collision_hand_left_index_6_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_5" name="collision_hand_left_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_5" name="collision_hand_left_index_4_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_5" name="collision_hand_left_index_5_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_5" name="collision_hand_left_index_6_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_6" name="collision_hand_left_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_6" name="collision_hand_left_index_4_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_6" name="collision_hand_left_index_5_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_6" name="collision_hand_left_index_6_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_7" name="collision_hand_left_index_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_7" name="collision_hand_left_index_4_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_8" name="collision_hand_left_index_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_8" name="collision_hand_left_index_4_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_8" name="collision_hand_left_index_5_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_8" name="collision_hand_left_index_6_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_9" name="collision_hand_left_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_9" name="collision_hand_left_index_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_9" name="collision_hand_left_index_4_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_9" name="collision_hand_left_index_5_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_9" name="collision_hand_left_index_6_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="left_object_0" name="collision_hand_left_index_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="left_object_0" name="collision_hand_left_index_4_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -837,12 +1089,26 @@
     <pair geom1="collision_hand_left_index_5" geom2="left_object_7" name="collision_hand_left_index_5_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="left_object_7" name="collision_hand_left_index_6_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_8" name="collision_hand_left_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_8" name="collision_hand_left_index_3_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_8" name="collision_hand_left_index_4_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_8" name="collision_hand_left_index_5_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_8" name="collision_hand_left_index_6_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -851,9 +1117,18 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -862,11 +1137,20 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -875,9 +1159,18 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -886,10 +1179,19 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -898,9 +1200,18 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -909,9 +1220,18 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -920,6 +1240,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -928,6 +1249,7 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -936,6 +1258,16 @@
     <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_0" name="right_object_10_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_1" name="right_object_10_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_2" name="right_object_10_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_3" name="right_object_10_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_4" name="right_object_10_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_5" name="right_object_10_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_6" name="right_object_10_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_7" name="right_object_10_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_8" name="right_object_10_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -944,6 +1276,70 @@
     <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_0" name="right_object_9_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_1" name="right_object_9_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_2" name="right_object_9_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_3" name="right_object_9_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_4" name="right_object_9_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_5" name="right_object_9_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_6" name="right_object_9_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_7" name="right_object_9_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_8" name="right_object_9_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
@@ -970,12 +1366,12 @@
   </equality>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -986,12 +1382,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/oakink/ability/bimanual/pick_spoon_bowl/task_info.json b/processed/oakink/ability/bimanual/pick_spoon_bowl/task_info.json
index 98fb26df4c5480bfad08dc21c6fb5972b6cbf181..941d2aff85daf07453470640004246ee8cf8b383 100644
--- a/processed/oakink/ability/bimanual/pick_spoon_bowl/task_info.json
+++ b/processed/oakink/ability/bimanual/pick_spoon_bowl/task_info.json
@@ -2,10 +2,11 @@
   "task": "pick_spoon_bowl",
   "dataset_name": "oakink",
   "robot_type": "ability",
-  "hand_type": "bimanual",
+  "embodiment_type": "bimanual",
   "data_id": 0,
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0030@00002",
   "left_object_mesh_dir": "processed/oakink/assets/objects/C12001",
+  "ref_dt": 0.02,
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0030@00002/convex",
   "left_object_convex_dir": "processed/oakink/assets/objects/C12001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/pour_tube/0/config.yaml b/processed/oakink/ability/bimanual/pour_tube/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..998922027eff76bfb7e0f6a3a99948546a258879
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pour_tube/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: ability
+embodiment_type: bimanual
+task: pour_tube
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/pour_tube/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/pour_tube/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
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+++ b/processed/oakink/ability/bimanual/pour_tube/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2c222d42645ea779acc58bf93f9b10ee726d873f987c3c4f99b0933e50dc897
+size 1386924
diff --git a/processed/oakink/ability/bimanual/pour_tube/4/trajectory_mjwp.npz b/processed/oakink/ability/bimanual/pour_tube/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..de997d5514ce0a63c474bc6125eb719c23a8e720
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pour_tube/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18233ec5038cbf0359d6920251ee3298de0cf9c9462dc9f7442781eeb0801686
+size 1730918
diff --git a/processed/oakink/ability/bimanual/pour_tube/4/visualization_mjwp.mp4 b/processed/oakink/ability/bimanual/pour_tube/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de6ad98b673c95e8e60de0fa5cba2afd4fe8673c
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pour_tube/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b3817eb8ee3bba7ddbc1da2b15ead84be43b0a86a2b67bd5adb38ca0df718b1
+size 991796
diff --git a/processed/oakink/ability/bimanual/pour_tube/scene.xml b/processed/oakink/ability/bimanual/pour_tube/scene.xml
index 74810b3eceee5384440e0f96c576ea234f162571..24d8cc6a733ff8c3dc11131cb7054a1a4a30b971 100644
--- a/processed/oakink/ability/bimanual/pour_tube/scene.xml
+++ b/processed/oakink/ability/bimanual/pour_tube/scene.xml
@@ -4,13 +4,19 @@
   <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"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
+    <default class="right_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
+    <default class="left_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -92,9 +98,9 @@
                     <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
                     <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
                     <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="right_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.065 0.028 0"/>
                   </body>
                 </body>
                 <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
@@ -114,9 +120,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
@@ -136,9 +142,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
@@ -158,9 +164,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
@@ -180,9 +186,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -228,9 +234,9 @@
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
                     <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="left_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.065 0.028 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -250,9 +256,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -272,9 +278,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -294,9 +300,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -316,9 +322,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -329,22 +335,22 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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="0.0203067 -0.0419832 -0.0142064" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="-0.0159233 0.029516 0.0106019" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="-0.0317155 0.0209083 -0.0104862" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="-0.0308593 0.0204301 -0.0260402" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="-0.0284179 0.0366054 -0.0523723" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0203067 -0.0419832 -0.0142064" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0159233 0.029516 0.0106019" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0317155 0.0209083 -0.0104862" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0308593 0.0204301 -0.0260402" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="-0.0284179 0.0366054 -0.0523723" size="0.01" 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"/>
@@ -378,15 +384,15 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="-0.00669959 -0.0069639 -0.0235738" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.0118917 0.00691844 -0.0243164" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.0197026 0.00954464 -0.0491164" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.00669959 -0.0069639 -0.0235738" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0118917 0.00691844 -0.0243164" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0197026 0.00954464 -0.0491164" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -861,12 +867,12 @@
   </contact>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -877,12 +883,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/oakink/ability/bimanual/pour_tube/scene_eq.xml b/processed/oakink/ability/bimanual/pour_tube/scene_eq.xml
index 2749b5c8b4523fe0658f91f3edfe343418d17cef..e65cb6c8e328f74f0763faf9afc6c956104d5c7d 100644
--- a/processed/oakink/ability/bimanual/pour_tube/scene_eq.xml
+++ b/processed/oakink/ability/bimanual/pour_tube/scene_eq.xml
@@ -4,13 +4,19 @@
   <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"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
+    <default class="right_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
+    <default class="left_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -92,9 +98,9 @@
                     <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
                     <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
                     <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="right_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.065 0.028 0"/>
                   </body>
                 </body>
                 <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
@@ -114,9 +120,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
@@ -136,9 +142,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
@@ -158,9 +164,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
@@ -180,9 +186,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -228,9 +234,9 @@
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
                     <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="left_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.065 0.028 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -250,9 +256,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -272,9 +278,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -294,9 +300,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -316,9 +322,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -329,22 +335,22 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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="0.0203067 -0.0419832 -0.0142064" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="-0.0159233 0.029516 0.0106019" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="-0.0317155 0.0209083 -0.0104862" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="-0.0308593 0.0204301 -0.0260402" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="-0.0284179 0.0366054 -0.0523723" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0203067 -0.0419832 -0.0142064" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0159233 0.029516 0.0106019" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0317155 0.0209083 -0.0104862" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0308593 0.0204301 -0.0260402" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="-0.0284179 0.0366054 -0.0523723" size="0.01" 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"/>
@@ -378,15 +384,15 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="-0.00669959 -0.0069639 -0.0235738" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.0118917 0.00691844 -0.0243164" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.0197026 0.00954464 -0.0491164" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.00669959 -0.0069639 -0.0235738" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0118917 0.00691844 -0.0243164" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0197026 0.00954464 -0.0491164" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -884,12 +890,12 @@
   </equality>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -900,12 +906,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
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-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
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-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/oakink/ability/bimanual/stir_beaker/0/config.yaml b/processed/oakink/ability/bimanual/stir_beaker/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..223e41481dced1917f298e47a3b603b244b40ae2
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: ability
+embodiment_type: bimanual
+task: stir_beaker
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/stir_beaker/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/stir_beaker/0/trajectory_kinematic.npz
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+num_dr: 1
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+- -0.005
+- 0.005
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+- -0.005
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index 0000000000000000000000000000000000000000..81c8f146ffd6a321f03f3890650cd37c4732e57e
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/2/config.yaml
@@ -0,0 +1,92 @@
+robot_type: ability
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+task: stir_beaker
+seed: 2
+dataset_dir: example_datasets
+dataset_name: oakink
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+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/stir_beaker/2/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/stir_beaker/2/trajectory_kinematic.npz
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index 0000000000000000000000000000000000000000..0d9eb68e5b03ca3ba2412219fae5d10d877a3b7d
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/3/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f28dbb4edd6c4e1f1a4483c0c90d4f03a0601973a3fde0091a71505b4686e23f
+size 1226246
diff --git a/processed/oakink/ability/bimanual/stir_beaker/3/visualization_mjwp.mp4 b/processed/oakink/ability/bimanual/stir_beaker/3/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30eadbcae302f26e5c95cf97bf22f27a5e40ff16
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/3/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4e02a67ee6de3d0013025be7c1094f676249012735c362a324c2b3021e1ddda
+size 901114
diff --git a/processed/oakink/ability/bimanual/stir_beaker/4/config.yaml b/processed/oakink/ability/bimanual/stir_beaker/4/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8d91588d0caff8ebfb1104a4471ebe9bb9f01d28
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/4/config.yaml
@@ -0,0 +1,92 @@
+robot_type: ability
+embodiment_type: bimanual
+task: stir_beaker
+seed: 4
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/stir_beaker/4/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/stir_beaker/4/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 1154
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.1
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+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: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 50
+- 3
+- 6
+- 9
+- 12
+- 15
+- 19
+- 22
+- 25
+- 28
+- 31
+horizon_steps: 200
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 46
+nv: 44
+nu: 32
+npair: 807
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/stir_beaker/4
diff --git a/processed/oakink/ability/bimanual/stir_beaker/4/trajectory_kinematic.npz b/processed/oakink/ability/bimanual/stir_beaker/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d537aef2bd0dcb2ecdd5493aa074121bf63db575
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3248bfb89d43e9beb338159a31306f36c03912f4fd365a1f32b4f2a0c4a726ea
+size 999852
diff --git a/processed/oakink/ability/bimanual/stir_beaker/4/trajectory_mjwp.npz b/processed/oakink/ability/bimanual/stir_beaker/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eaa9f3f5687c1efa9fe6b1b5ed842053ca73c51c
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1088bf75154f677ad75454934cb7ec4d52406db72262eb8ce7ec9357c9e28a0
+size 1226246
diff --git a/processed/oakink/ability/bimanual/stir_beaker/4/visualization_mjwp.mp4 b/processed/oakink/ability/bimanual/stir_beaker/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b53757f8a5580ad3c53318109c63f016ea44c4da
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1539a8baa37beadc35f9e5b2f19430b1ab0a303249d66f6d686e6a1651d47b3
+size 989121
diff --git a/processed/oakink/ability/bimanual/stir_beaker/scene.xml b/processed/oakink/ability/bimanual/stir_beaker/scene.xml
index fe885f7720b518cbda62602abd686f9e31cd266c..4cf09320aa342383f68c3f1e9ee79ae3abbbd750 100644
--- a/processed/oakink/ability/bimanual/stir_beaker/scene.xml
+++ b/processed/oakink/ability/bimanual/stir_beaker/scene.xml
@@ -4,13 +4,19 @@
   <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"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
+    <default class="right_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
+    <default class="left_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
   </default>
 
   <asset>
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-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
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     <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
@@ -39,6 +45,14 @@
     <mesh name="left_idx-F2" file="robots/ability/assets/idx-F2.obj"/>
     <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.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"/>
     <mesh name="left_0" file="objects/C11001/convex/0.obj"/>
     <mesh name="left_1" file="objects/C11001/convex/1.obj"/>
     <mesh name="left_2" file="objects/C11001/convex/2.obj"/>
@@ -47,6 +61,7 @@
     <mesh name="left_5" file="objects/C11001/convex/5.obj"/>
     <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
     <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/C11001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/C11001/visual.obj"/>
   </asset>
@@ -92,9 +107,9 @@
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                     <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
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-                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="right_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.065 0.028 0"/>
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                 </body>
                 <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
@@ -114,9 +129,9 @@
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-                    <site name="right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
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                 </body>
                 <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
@@ -136,9 +151,9 @@
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-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
@@ -158,9 +173,9 @@
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-                    <site name="right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
@@ -180,9 +195,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
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                     <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -228,9 +243,9 @@
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
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-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="left_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.065 0.028 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -250,9 +265,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
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                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -272,9 +287,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
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                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
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                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -294,9 +309,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
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                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
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                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -316,9 +331,9 @@
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-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
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@@ -329,15 +344,23 @@
     </body>
     <body name="right_object">
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+      <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="-0.00540756 -0.000501749 -0.0064119" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.00821814 0.00740494 -0.0133851" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.0090497 0.0269957 -0.00221597" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0.0161041 0.054549 -0.0138048" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0.00984918 0.0671415 0.00104707" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.00540756 -0.000501749 -0.0064119" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00821814 0.00740494 -0.0133851" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0090497 0.0269957 -0.00221597" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0161041 0.054549 -0.0138048" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.00984918 0.0671415 0.00104707" size="0.01" 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"/>
@@ -371,22 +394,23 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="-0.0382117 0.0186336 0.0196904" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.0342992 -0.0246372 0.0122467" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.0293652 -0.0291073 -0.0180785" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.0342168 -0.0184245 -0.0392152" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0382117 0.0186336 0.0196904" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0342992 -0.0246372 0.0122467" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0293652 -0.0291073 -0.0180785" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0342168 -0.0184245 -0.0392152" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -422,6 +446,14 @@
 
   <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -430,6 +462,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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"/>
@@ -456,6 +489,30 @@
     <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_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_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_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_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_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_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_1" geom2="right_object_3" name="collision_hand_right_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_3" name="collision_hand_right_palm_2_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_1" geom2="right_object_4" name="collision_hand_right_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_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_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_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_1" geom2="right_object_6" name="collision_hand_right_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_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_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_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_1" geom2="right_object_8" name="collision_hand_right_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_8" name="collision_hand_right_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
@@ -480,6 +537,9 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_7" name="collision_hand_right_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_7" name="collision_hand_right_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_8" name="collision_hand_right_palm_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_8" name="collision_hand_right_palm_2_left_object_8" 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"/>
@@ -497,6 +557,14 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -505,6 +573,7 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -512,6 +581,14 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -520,6 +597,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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"/>
@@ -536,6 +614,14 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_index_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -544,6 +630,7 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -551,6 +638,14 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -559,6 +654,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -574,6 +670,14 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -582,6 +686,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -589,6 +694,14 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -597,6 +710,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
@@ -611,6 +725,14 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -619,6 +741,7 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -626,6 +749,14 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -634,6 +765,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -647,6 +779,14 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -655,6 +795,7 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -663,6 +804,30 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_3" name="collision_hand_left_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_3" name="collision_hand_left_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_8" name="collision_hand_left_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_8" name="collision_hand_left_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
@@ -687,8 +852,27 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_7" name="collision_hand_left_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_7" name="collision_hand_left_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_8" name="collision_hand_left_palm_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_8" name="collision_hand_left_palm_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_3" name="collision_hand_left_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_8" name="collision_hand_left_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -705,12 +889,30 @@
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_6" name="collision_hand_left_thumb_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_7" name="collision_hand_left_thumb_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_8" name="collision_hand_left_thumb_3_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -727,12 +929,62 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_5" geom2="right_object_0" name="collision_hand_left_index_5_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_0" name="collision_hand_left_index_6_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_1" name="collision_hand_left_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_1" name="collision_hand_left_index_4_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_2" name="collision_hand_left_index_5_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_2" name="collision_hand_left_index_6_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_3" name="collision_hand_left_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_3" name="collision_hand_left_index_4_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_3" name="collision_hand_left_index_5_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_3" name="collision_hand_left_index_6_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_4" name="collision_hand_left_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_4" name="collision_hand_left_index_4_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_4" name="collision_hand_left_index_5_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_4" name="collision_hand_left_index_6_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_5" name="collision_hand_left_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_5" name="collision_hand_left_index_4_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_5" name="collision_hand_left_index_5_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_5" name="collision_hand_left_index_6_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_6" name="collision_hand_left_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_6" name="collision_hand_left_index_4_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_6" name="collision_hand_left_index_5_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_6" name="collision_hand_left_index_6_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_7" name="collision_hand_left_index_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_7" name="collision_hand_left_index_4_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_8" name="collision_hand_left_index_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_8" name="collision_hand_left_index_4_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_8" name="collision_hand_left_index_5_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_8" name="collision_hand_left_index_6_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="left_object_0" name="collision_hand_left_index_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="left_object_0" name="collision_hand_left_index_4_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -781,10 +1033,24 @@
     <pair geom1="collision_hand_left_index_5" geom2="left_object_7" name="collision_hand_left_index_5_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="left_object_7" name="collision_hand_left_index_6_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_8" name="collision_hand_left_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_8" name="collision_hand_left_index_3_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_8" name="collision_hand_left_index_4_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_8" name="collision_hand_left_index_5_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_8" name="collision_hand_left_index_6_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -793,7 +1059,16 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -802,9 +1077,18 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -813,7 +1097,16 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -822,8 +1115,17 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -832,7 +1134,16 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -841,7 +1152,16 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -850,6 +1170,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -858,15 +1179,88 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -877,12 +1271,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/oakink/ability/bimanual/stir_beaker/scene_eq.xml b/processed/oakink/ability/bimanual/stir_beaker/scene_eq.xml
index 88a1c4636c4a79659fa8459e198853934ddf68cc..9df0f3b903d1eaa20ef9ded7b845fb584f339b42 100644
--- a/processed/oakink/ability/bimanual/stir_beaker/scene_eq.xml
+++ b/processed/oakink/ability/bimanual/stir_beaker/scene_eq.xml
@@ -4,13 +4,19 @@
   <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"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
+    <default class="right_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
+    <default class="left_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -39,6 +45,14 @@
     <mesh name="left_idx-F2" file="robots/ability/assets/idx-F2.obj"/>
     <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.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"/>
     <mesh name="left_0" file="objects/C11001/convex/0.obj"/>
     <mesh name="left_1" file="objects/C11001/convex/1.obj"/>
     <mesh name="left_2" file="objects/C11001/convex/2.obj"/>
@@ -47,6 +61,7 @@
     <mesh name="left_5" file="objects/C11001/convex/5.obj"/>
     <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
     <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/C11001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/C11001/visual.obj"/>
   </asset>
@@ -92,9 +107,9 @@
                     <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
                     <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
                     <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="right_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.065 0.028 0"/>
                   </body>
                 </body>
                 <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
@@ -114,9 +129,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
@@ -136,9 +151,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
@@ -158,9 +173,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
@@ -180,9 +195,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -228,9 +243,9 @@
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
                     <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="left_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.065 0.028 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -250,9 +265,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -272,9 +287,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -294,9 +309,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -316,9 +331,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -329,15 +344,23 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <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="-0.00540756 -0.000501749 -0.0064119" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.00821814 0.00740494 -0.0133851" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.0090497 0.0269957 -0.00221597" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0.0161041 0.054549 -0.0138048" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0.00984918 0.0671415 0.00104707" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.00540756 -0.000501749 -0.0064119" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00821814 0.00740494 -0.0133851" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0090497 0.0269957 -0.00221597" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0161041 0.054549 -0.0138048" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.00984918 0.0671415 0.00104707" size="0.01" 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"/>
@@ -371,22 +394,23 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="-0.0382117 0.0186336 0.0196904" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.0342992 -0.0246372 0.0122467" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.0293652 -0.0291073 -0.0180785" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.0342168 -0.0184245 -0.0392152" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0382117 0.0186336 0.0196904" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0342992 -0.0246372 0.0122467" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0293652 -0.0291073 -0.0180785" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0342168 -0.0184245 -0.0392152" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -422,6 +446,14 @@
 
   <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -430,6 +462,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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"/>
@@ -456,6 +489,30 @@
     <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_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_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_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_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_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_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_1" geom2="right_object_3" name="collision_hand_right_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_3" name="collision_hand_right_palm_2_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_1" geom2="right_object_4" name="collision_hand_right_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_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_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_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_1" geom2="right_object_6" name="collision_hand_right_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_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_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_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_1" geom2="right_object_8" name="collision_hand_right_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_8" name="collision_hand_right_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
@@ -480,6 +537,9 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_7" name="collision_hand_right_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_7" name="collision_hand_right_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_8" name="collision_hand_right_palm_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_8" name="collision_hand_right_palm_2_left_object_8" 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"/>
@@ -497,6 +557,14 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -505,6 +573,7 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -512,6 +581,14 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -520,6 +597,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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"/>
@@ -536,6 +614,14 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_index_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -544,6 +630,7 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -551,6 +638,14 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -559,6 +654,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -574,6 +670,14 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -582,6 +686,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -589,6 +694,14 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -597,6 +710,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
@@ -611,6 +725,14 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -619,6 +741,7 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -626,6 +749,14 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -634,6 +765,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -647,6 +779,14 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -655,6 +795,7 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -663,6 +804,30 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_3" name="collision_hand_left_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_3" name="collision_hand_left_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_8" name="collision_hand_left_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_8" name="collision_hand_left_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
@@ -687,8 +852,27 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_7" name="collision_hand_left_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_7" name="collision_hand_left_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_8" name="collision_hand_left_palm_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_8" name="collision_hand_left_palm_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_3" name="collision_hand_left_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_8" name="collision_hand_left_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -705,12 +889,30 @@
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_6" name="collision_hand_left_thumb_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_7" name="collision_hand_left_thumb_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_8" name="collision_hand_left_thumb_3_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -727,12 +929,62 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_5" geom2="right_object_0" name="collision_hand_left_index_5_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_0" name="collision_hand_left_index_6_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_1" name="collision_hand_left_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_1" name="collision_hand_left_index_4_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_2" name="collision_hand_left_index_5_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_2" name="collision_hand_left_index_6_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_3" name="collision_hand_left_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_3" name="collision_hand_left_index_4_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_3" name="collision_hand_left_index_5_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_3" name="collision_hand_left_index_6_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_4" name="collision_hand_left_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_4" name="collision_hand_left_index_4_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_4" name="collision_hand_left_index_5_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_4" name="collision_hand_left_index_6_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_5" name="collision_hand_left_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_5" name="collision_hand_left_index_4_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_5" name="collision_hand_left_index_5_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_5" name="collision_hand_left_index_6_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_6" name="collision_hand_left_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_6" name="collision_hand_left_index_4_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_6" name="collision_hand_left_index_5_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_6" name="collision_hand_left_index_6_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_7" name="collision_hand_left_index_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_7" name="collision_hand_left_index_4_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_8" name="collision_hand_left_index_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_8" name="collision_hand_left_index_4_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_8" name="collision_hand_left_index_5_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_8" name="collision_hand_left_index_6_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="left_object_0" name="collision_hand_left_index_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="left_object_0" name="collision_hand_left_index_4_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -781,10 +1033,24 @@
     <pair geom1="collision_hand_left_index_5" geom2="left_object_7" name="collision_hand_left_index_5_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="left_object_7" name="collision_hand_left_index_6_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_8" name="collision_hand_left_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_8" name="collision_hand_left_index_3_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_8" name="collision_hand_left_index_4_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_8" name="collision_hand_left_index_5_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_8" name="collision_hand_left_index_6_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -793,7 +1059,16 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -802,9 +1077,18 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -813,7 +1097,16 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -822,8 +1115,17 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -832,7 +1134,16 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -841,7 +1152,16 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -850,6 +1170,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -858,6 +1179,79 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
@@ -884,12 +1278,12 @@
   </equality>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -900,12 +1294,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/oakink/ability/bimanual/summary.csv b/processed/oakink/ability/bimanual/summary.csv
index 7de2e4c858770a3d4367b97b8e7a20ca629d0b71..9120a4750fd8a1aff3f9da311566d08cd1c583de 100644
--- a/processed/oakink/ability/bimanual/summary.csv
+++ b/processed/oakink/ability/bimanual/summary.csv
@@ -1,8 +1,52 @@
-task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,pos_err_threshold,quat_err_threshold,timestamp,data_type,data_id,obj_pos_err,obj_quat_err,success
-wipe_board,1,1,1.0,0.04258329072943019,0.0,0.14022235345826511,0.0,oakink,ability,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.04258329072943019,0.14022235345826511,True
-pour_tube,1,0,0.0,0.15605536879534646,0.0,1.0809137638399609,0.0,oakink,ability,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.15605536879534646,1.0809137638399609,False
-uncap_alcohol_burner,1,1,1.0,0.07214501183521041,0.0,0.15604205609188596,0.0,oakink,ability,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.07214501183521041,0.15604205609188596,True
-lift_board,1,0,0.0,0.20689622897557905,0.0,0.3107060367427231,0.0,oakink,ability,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.20689622897557905,0.3107060367427231,False
-stir_beaker,1,0,0.0,0.18563496167699856,0.0,0.8575679105622694,0.0,oakink,ability,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.18563496167699856,0.8575679105622694,False
-pick_spoon_bowl,1,1,1.0,0.07351684808152396,0.0,0.37869509442682137,0.0,oakink,ability,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.07351684808152396,0.37869509442682137,True
-unplug,1,1,1.0,0.03741436706689542,0.0,0.141386591603655,0.0,oakink,ability,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.03741436706689542,0.141386591603655,True
+dataset,robot_type,embodiment_type,data_type,task,data_id,obj_pos_err,obj_quat_err,success,pos_err_threshold,quat_err_threshold,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,timestamp
+oakink,ability,bimanual,mjwp,uncap_alcohol_burner,0,0.0300735840689575,0.3292375923578428,True,0.1,0.6,1,1,1.0,0.0300735840689575,0.0,0.3292375923578428,0.0,2026-01-27 20:14:10
+oakink,ability,bimanual,mjwp,uncap_alcohol_burner,1,0.0321111044023408,0.2443298193758151,True,0.1,0.6,1,1,1.0,0.0321111044023408,0.0,0.2443298193758151,0.0,2026-01-27 20:14:10
+oakink,ability,bimanual,mjwp,stir_beaker,0,0.0950294181238244,0.8596468906132696,False,0.1,0.6,1,0,0.0,0.0950294181238244,0.0,0.8596468906132696,0.0,2026-01-27 20:14:10
+oakink,ability,bimanual,mjwp,stir_beaker,1,0.0966125412465772,0.732456725167378,False,0.1,0.6,1,0,0.0,0.0966125412465772,0.0,0.732456725167378,0.0,2026-01-27 20:14:10
+oakink,ability,bimanual,mjwp,unplug,0,0.016225326244036,0.2125984391682572,True,0.1,0.6,1,1,1.0,0.016225326244036,0.0,0.2125984391682572,0.0,2026-01-27 20:14:10
+oakink,ability,bimanual,mjwp,unplug,1,0.0125304410807596,0.2054702834076532,True,0.1,0.6,1,1,1.0,0.0125304410807596,0.0,0.2054702834076532,0.0,2026-01-27 20:14:10
+oakink,ability,bimanual,mjwp,pick_spoon_bowl,0,0.0566482564059641,1.3261370534619217,False,0.1,0.6,1,0,0.0,0.0566482564059641,0.0,1.3261370534619217,0.0,2026-01-27 20:14:10
+oakink,ability,bimanual,mjwp,pick_spoon_bowl,1,0.0281891018893759,0.8420216819454914,False,0.1,0.6,1,0,0.0,0.0281891018893759,0.0,0.8420216819454914,0.0,2026-01-27 20:14:10
+oakink,ability,bimanual,mjwp,pick_spoon_bowl,2,0.0579457901289112,1.3099566812446064,False,0.1,0.6,1,0,0.0,0.0579457901289112,0.0,1.3099566812446064,0.0,2026-01-27 20:14:10
+oakink,ability,bimanual,mjwp,lift_board,0,0.1114017368744425,0.2369462870856949,False,0.1,0.6,1,0,0.0,0.1114017368744425,0.0,0.2369462870856949,0.0,2026-01-27 20:14:10
+oakink,ability,bimanual,mjwp,lift_board,1,0.0610060995994724,0.0683720395001713,True,0.1,0.6,1,1,1.0,0.0610060995994724,0.0,0.0683720395001713,0.0,2026-01-27 20:14:10
+oakink,ability,bimanual,mjwp,lift_board,2,0.1107591425016781,0.2347945256542997,False,0.1,0.6,1,0,0.0,0.1107591425016781,0.0,0.2347945256542997,0.0,2026-01-27 20:14:10
+oakink,ability,bimanual,mjwp,pour_tube,0,0.081418694038247,2.0756482092139525,False,0.1,0.6,1,0,0.0,0.081418694038247,0.0,2.0756482092139525,0.0,2026-01-27 20:14:10
+oakink,ability,bimanual,mjwp,pour_tube,1,0.0798993825494478,2.2957855709533503,False,0.1,0.6,1,0,0.0,0.0798993825494478,0.0,2.2957855709533503,0.0,2026-01-27 20:14:10
+oakink,ability,bimanual,mjwp,wipe_board,0,0.0328048128732818,0.3931731547568617,True,0.1,0.6,1,1,1.0,0.0328048128732818,0.0,0.3931731547568617,0.0,2026-01-27 20:14:10
+oakink,ability,bimanual,mjwp,wipe_board,1,0.0326004160997727,0.3928551719618398,True,0.1,0.6,1,1,1.0,0.0326004160997727,0.0,0.3928551719618398,0.0,2026-01-27 20:14:10
+oakink,ability,bimanual,mjwp,uncap_alcohol_burner,0,0.05109048568884297,0.6301043436690749,False,0.1,0.5,1,0,0.0,0.05109048568884297,0.0,0.6301043436690749,0.0,2026-01-28 14:19:20
+oakink,ability,bimanual,mjwp,uncap_alcohol_burner,1,0.07164757328614052,1.1666880425173345,False,0.1,0.5,1,0,0.0,0.07164757328614052,0.0,1.1666880425173345,0.0,2026-01-28 14:19:20
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                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
@@ -161,9 +169,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
@@ -183,9 +191,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -230,10 +238,10 @@
                     <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
-                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -253,9 +261,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -275,9 +283,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -297,9 +305,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -319,9 +327,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -332,22 +340,20 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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="0.0135767 0.0358624 0.00113103" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" 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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0135767 0.0358624 0.00113103" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" 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"/>
@@ -381,18 +387,22 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -433,12 +443,14 @@
     <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" 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"/>
@@ -480,12 +492,6 @@
     <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_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_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_1" geom2="right_object_6" name="collision_hand_right_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_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_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
@@ -498,6 +504,18 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_3" name="collision_hand_right_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_3" name="collision_hand_right_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_4" name="collision_hand_right_palm_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_4" name="collision_hand_right_palm_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_5" name="collision_hand_right_palm_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_5" name="collision_hand_right_palm_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_6" name="collision_hand_right_palm_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_6" name="collision_hand_right_palm_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_7" name="collision_hand_right_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_7" name="collision_hand_right_palm_2_left_object_7" 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"/>
@@ -520,12 +538,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -538,12 +558,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" 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"/>
@@ -565,12 +587,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -583,12 +607,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" 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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -609,12 +635,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -627,12 +655,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" 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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
@@ -652,12 +682,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -670,12 +702,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -694,12 +728,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -723,12 +759,6 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
@@ -741,6 +771,18 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_3" name="collision_hand_left_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_3" name="collision_hand_left_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_4" name="collision_hand_left_palm_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_4" name="collision_hand_left_palm_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_5" name="collision_hand_left_palm_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_5" name="collision_hand_left_palm_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_6" name="collision_hand_left_palm_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_6" name="collision_hand_left_palm_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_7" name="collision_hand_left_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_7" name="collision_hand_left_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -753,10 +795,6 @@
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -765,6 +803,14 @@
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_2" name="collision_hand_left_thumb_3_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_3" name="collision_hand_left_thumb_3_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_4" name="collision_hand_left_thumb_3_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_5" name="collision_hand_left_thumb_3_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_6" name="collision_hand_left_thumb_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_7" name="collision_hand_left_thumb_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -781,10 +827,6 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -793,6 +835,14 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -829,18 +879,6 @@
     <pair geom1="collision_hand_left_index_5" geom2="right_object_5" name="collision_hand_left_index_5_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_5" name="collision_hand_left_index_6_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_3" geom2="right_object_6" name="collision_hand_left_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_4" geom2="right_object_6" name="collision_hand_left_index_4_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_5" geom2="right_object_6" name="collision_hand_left_index_5_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_6" geom2="right_object_6" name="collision_hand_left_index_6_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_3" geom2="right_object_7" name="collision_hand_left_index_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_4" geom2="right_object_7" name="collision_hand_left_index_4_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="left_object_0" name="collision_hand_left_index_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="left_object_0" name="collision_hand_left_index_4_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -865,6 +903,30 @@
     <pair geom1="collision_hand_left_index_5" geom2="left_object_3" name="collision_hand_left_index_5_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="left_object_3" name="collision_hand_left_index_6_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_4" name="collision_hand_left_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_4" name="collision_hand_left_index_3_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_4" name="collision_hand_left_index_4_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_4" name="collision_hand_left_index_5_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_4" name="collision_hand_left_index_6_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_5" name="collision_hand_left_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_5" name="collision_hand_left_index_3_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_5" name="collision_hand_left_index_4_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_5" name="collision_hand_left_index_5_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_5" name="collision_hand_left_index_6_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_6" name="collision_hand_left_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_6" name="collision_hand_left_index_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_6" name="collision_hand_left_index_4_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_6" name="collision_hand_left_index_5_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_6" name="collision_hand_left_index_6_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_7" name="collision_hand_left_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_7" name="collision_hand_left_index_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_7" name="collision_hand_left_index_4_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_7" name="collision_hand_left_index_5_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_7" name="collision_hand_left_index_6_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -874,24 +936,28 @@
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
@@ -900,24 +966,28 @@
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
@@ -925,77 +995,99 @@
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -1006,12 +1098,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/oakink/ability/bimanual/uncap_alcohol_burner/scene_eq.xml b/processed/oakink/ability/bimanual/uncap_alcohol_burner/scene_eq.xml
index fe7c2a487d1d1f1336654ced138e6a0a526c905a..090d129d52298987797180b314225daa774d48ff 100644
--- a/processed/oakink/ability/bimanual/uncap_alcohol_burner/scene_eq.xml
+++ b/processed/oakink/ability/bimanual/uncap_alcohol_burner/scene_eq.xml
@@ -4,13 +4,19 @@
   <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"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
+    <default class="right_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
+    <default class="left_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -44,12 +50,14 @@
     <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj"/>
     <mesh name="right_5" file="objects/O02@0206@00001/convex/5.obj"/>
-    <mesh name="right_6" file="objects/O02@0206@00001/convex/6.obj"/>
-    <mesh name="right_7" file="objects/O02@0206@00001/convex/7.obj"/>
     <mesh name="left_0" file="objects/O02@0206@00002/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0206@00002/convex/1.obj"/>
     <mesh name="left_2" file="objects/O02@0206@00002/convex/2.obj"/>
     <mesh name="left_3" file="objects/O02@0206@00002/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0206@00002/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0206@00002/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0206@00002/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0206@00002/convex/7.obj"/>
     <mesh name="right_visual" file="objects/O02@0206@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0206@00002/visual.obj"/>
   </asset>
@@ -94,10 +102,10 @@
                     <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
                     <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
-                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
@@ -117,9 +125,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
@@ -139,9 +147,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
@@ -161,9 +169,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
@@ -183,9 +191,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -230,10 +238,10 @@
                     <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
-                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -253,9 +261,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -275,9 +283,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -297,9 +305,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -319,9 +327,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -332,22 +340,20 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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="0.0135767 0.0358624 0.00113103" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" 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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0135767 0.0358624 0.00113103" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" 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"/>
@@ -381,18 +387,22 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -433,12 +443,14 @@
     <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" 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"/>
@@ -480,12 +492,6 @@
     <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_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_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_1" geom2="right_object_6" name="collision_hand_right_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_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_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
@@ -498,6 +504,18 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_3" name="collision_hand_right_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_3" name="collision_hand_right_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_4" name="collision_hand_right_palm_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_4" name="collision_hand_right_palm_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_5" name="collision_hand_right_palm_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_5" name="collision_hand_right_palm_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_6" name="collision_hand_right_palm_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_6" name="collision_hand_right_palm_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_7" name="collision_hand_right_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_7" name="collision_hand_right_palm_2_left_object_7" 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"/>
@@ -520,12 +538,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -538,12 +558,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" 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"/>
@@ -565,12 +587,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -583,12 +607,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" 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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -609,12 +635,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -627,12 +655,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" 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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
@@ -652,12 +682,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -670,12 +702,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -694,12 +728,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -723,12 +759,6 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
@@ -741,6 +771,18 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_3" name="collision_hand_left_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_3" name="collision_hand_left_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_4" name="collision_hand_left_palm_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_4" name="collision_hand_left_palm_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_5" name="collision_hand_left_palm_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_5" name="collision_hand_left_palm_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_6" name="collision_hand_left_palm_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_6" name="collision_hand_left_palm_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_7" name="collision_hand_left_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_7" name="collision_hand_left_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -753,10 +795,6 @@
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -765,6 +803,14 @@
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_2" name="collision_hand_left_thumb_3_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_3" name="collision_hand_left_thumb_3_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_4" name="collision_hand_left_thumb_3_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_5" name="collision_hand_left_thumb_3_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_6" name="collision_hand_left_thumb_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_7" name="collision_hand_left_thumb_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -781,10 +827,6 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -793,6 +835,14 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -829,18 +879,6 @@
     <pair geom1="collision_hand_left_index_5" geom2="right_object_5" name="collision_hand_left_index_5_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_5" name="collision_hand_left_index_6_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_3" geom2="right_object_6" name="collision_hand_left_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_4" geom2="right_object_6" name="collision_hand_left_index_4_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_5" geom2="right_object_6" name="collision_hand_left_index_5_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_6" geom2="right_object_6" name="collision_hand_left_index_6_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_3" geom2="right_object_7" name="collision_hand_left_index_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_4" geom2="right_object_7" name="collision_hand_left_index_4_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="left_object_0" name="collision_hand_left_index_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="left_object_0" name="collision_hand_left_index_4_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -865,6 +903,30 @@
     <pair geom1="collision_hand_left_index_5" geom2="left_object_3" name="collision_hand_left_index_5_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="left_object_3" name="collision_hand_left_index_6_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_4" name="collision_hand_left_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_4" name="collision_hand_left_index_3_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_4" name="collision_hand_left_index_4_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_4" name="collision_hand_left_index_5_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_4" name="collision_hand_left_index_6_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_5" name="collision_hand_left_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_5" name="collision_hand_left_index_3_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_5" name="collision_hand_left_index_4_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_5" name="collision_hand_left_index_5_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_5" name="collision_hand_left_index_6_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_6" name="collision_hand_left_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_6" name="collision_hand_left_index_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_6" name="collision_hand_left_index_4_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_6" name="collision_hand_left_index_5_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_6" name="collision_hand_left_index_6_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_7" name="collision_hand_left_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_7" name="collision_hand_left_index_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_7" name="collision_hand_left_index_4_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_7" name="collision_hand_left_index_5_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_7" name="collision_hand_left_index_6_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -874,24 +936,28 @@
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
@@ -900,24 +966,28 @@
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
@@ -925,68 +995,90 @@
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
@@ -1013,12 +1105,12 @@
   </equality>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -1029,12 +1121,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/oakink/ability/bimanual/unplug/0/config.yaml b/processed/oakink/ability/bimanual/unplug/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7df327b31861ac987e7661a116afa034e1813b2e
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: ability
+embodiment_type: bimanual
+task: unplug
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/unplug/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/unplug/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 782
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
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+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
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+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
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+viewer: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
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+nq: 46
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+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/unplug/0
diff --git a/processed/oakink/ability/bimanual/unplug/0/trajectory_ikrollout.npz b/processed/oakink/ability/bimanual/unplug/0/trajectory_ikrollout.npz
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diff --git a/processed/oakink/ability/bimanual/unplug/1/trajectory_kinematic.npz b/processed/oakink/ability/bimanual/unplug/1/trajectory_kinematic.npz
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diff --git a/processed/oakink/ability/bimanual/unplug/2/config.yaml b/processed/oakink/ability/bimanual/unplug/2/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..56b1afec1612406999566a9076ba8d03da86a82b
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/2/config.yaml
@@ -0,0 +1,92 @@
+robot_type: ability
+embodiment_type: bimanual
+task: unplug
+seed: 2
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 2
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/unplug/2/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/unplug/2/trajectory_kinematic.npz
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+- 0.005
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diff --git a/processed/oakink/ability/bimanual/unplug/2/trajectory_kinematic.npz b/processed/oakink/ability/bimanual/unplug/2/trajectory_kinematic.npz
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diff --git a/processed/oakink/ability/bimanual/unplug/4/config.yaml b/processed/oakink/ability/bimanual/unplug/4/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f1b123362796c2a5e5fba9a0cd19377335e62d58
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/4/config.yaml
@@ -0,0 +1,92 @@
+robot_type: ability
+embodiment_type: bimanual
+task: unplug
+seed: 4
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/unplug/4/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/unplug/4/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 782
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
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+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 50
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+horizon_steps: 200
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 46
+nv: 44
+nu: 32
+npair: 807
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/unplug/4
diff --git a/processed/oakink/ability/bimanual/unplug/4/trajectory_kinematic.npz b/processed/oakink/ability/bimanual/unplug/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1a66db11e7fefcb8b910d5bc205196e4278f3eee
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/ability/bimanual/unplug/4/trajectory_mjwp.npz b/processed/oakink/ability/bimanual/unplug/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3741f82b46adbae00e6eb551ab3638a6d81b599b
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2312366e03516acba56cb2a782139b32fb55694bfe1ccb657f85efbd96cef8ae
+size 847742
diff --git a/processed/oakink/ability/bimanual/unplug/4/visualization_mjwp.mp4 b/processed/oakink/ability/bimanual/unplug/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4ef0201e84b2f4f462654283e39524fd54c0925
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65895cb93f410479a576a634f058b00a62f811e5a646a3e59393d376ca17b93c
+size 685941
diff --git a/processed/oakink/ability/bimanual/unplug/scene.xml b/processed/oakink/ability/bimanual/unplug/scene.xml
index 1b8a5eea69f93ab08e3cea26f302e21ec280a442..a40e6ce44ea0dec431a941033356599855615913 100644
--- a/processed/oakink/ability/bimanual/unplug/scene.xml
+++ b/processed/oakink/ability/bimanual/unplug/scene.xml
@@ -4,13 +4,19 @@
   <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"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
+    <default class="right_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
+    <default class="left_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
   </default>
 
   <asset>
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-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
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     <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
@@ -46,6 +52,7 @@
     <mesh name="right_5" file="objects/O02@0047@00002/convex/5.obj"/>
     <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
     <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0047@00002/convex/8.obj"/>
     <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
     <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
@@ -54,6 +61,7 @@
     <mesh name="left_5" file="objects/O02@0047@00001/convex/5.obj"/>
     <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
     <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/O02@0047@00001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
   </asset>
@@ -98,10 +106,10 @@
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                     <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
-                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
@@ -121,9 +129,9 @@
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-                    <site name="track_hand_right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
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                 </body>
                 <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
@@ -143,9 +151,9 @@
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-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
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                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
@@ -165,9 +173,9 @@
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-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
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                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
@@ -187,9 +195,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
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-                    <site name="right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -234,10 +242,10 @@
                     <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
-                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
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-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -257,9 +265,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
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                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -279,9 +287,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
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                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -301,9 +309,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
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                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
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                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -323,9 +331,9 @@
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-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
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@@ -336,22 +344,23 @@
     </body>
     <body name="right_object">
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-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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"/>
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-      <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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00980974 0.00883008 0.00582814" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" 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"/>
@@ -385,22 +394,23 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -443,6 +453,7 @@
     <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -451,6 +462,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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"/>
@@ -498,6 +510,9 @@
     <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_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_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_1" geom2="right_object_8" name="collision_hand_right_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_8" name="collision_hand_right_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
@@ -522,6 +537,9 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_7" name="collision_hand_right_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_7" name="collision_hand_right_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_8" name="collision_hand_right_palm_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_8" name="collision_hand_right_palm_2_left_object_8" 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"/>
@@ -546,6 +564,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -554,6 +573,7 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -568,6 +588,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -576,6 +597,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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"/>
@@ -599,6 +621,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -607,6 +630,7 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -621,6 +645,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -629,6 +654,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -651,6 +677,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -659,6 +686,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -673,6 +701,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -681,6 +710,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
@@ -702,6 +732,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -710,6 +741,7 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -724,6 +756,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -732,6 +765,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -752,6 +786,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -760,6 +795,7 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -789,6 +825,9 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_8" name="collision_hand_left_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_8" name="collision_hand_left_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
@@ -813,6 +852,9 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_7" name="collision_hand_left_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_7" name="collision_hand_left_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_8" name="collision_hand_left_palm_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_8" name="collision_hand_left_palm_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -829,6 +871,8 @@
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_8" name="collision_hand_left_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -845,6 +889,8 @@
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_6" name="collision_hand_left_thumb_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_7" name="collision_hand_left_thumb_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_8" name="collision_hand_left_thumb_3_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -865,6 +911,8 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -881,6 +929,8 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -929,6 +979,12 @@
     <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_8" name="collision_hand_left_index_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_8" name="collision_hand_left_index_4_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_8" name="collision_hand_left_index_5_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_8" name="collision_hand_left_index_6_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="left_object_0" name="collision_hand_left_index_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="left_object_0" name="collision_hand_left_index_4_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -977,6 +1033,12 @@
     <pair geom1="collision_hand_left_index_5" geom2="left_object_7" name="collision_hand_left_index_5_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="left_object_7" name="collision_hand_left_index_6_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_8" name="collision_hand_left_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_8" name="collision_hand_left_index_3_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_8" name="collision_hand_left_index_4_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_8" name="collision_hand_left_index_5_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_8" name="collision_hand_left_index_6_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -988,6 +1050,7 @@
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -996,6 +1059,7 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1004,6 +1068,7 @@
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1012,6 +1077,7 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
@@ -1022,6 +1088,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1030,6 +1097,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1038,6 +1106,7 @@
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1046,6 +1115,7 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
@@ -1055,6 +1125,7 @@
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1063,6 +1134,7 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1071,6 +1143,7 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1079,6 +1152,7 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1087,6 +1161,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1095,6 +1170,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1103,6 +1179,7 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1111,6 +1188,7 @@
     <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1119,6 +1197,7 @@
     <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1127,6 +1206,7 @@
     <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1135,6 +1215,7 @@
     <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1143,6 +1224,7 @@
     <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1151,6 +1233,7 @@
     <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1159,15 +1242,25 @@
     <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -1178,12 +1271,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/oakink/ability/bimanual/unplug/scene_eq.xml b/processed/oakink/ability/bimanual/unplug/scene_eq.xml
index 6fef1075e70f4a081b40723d81a415b116633638..3e5f7e8b2d5e70275bc54fb7cc394a716c76b9e2 100644
--- a/processed/oakink/ability/bimanual/unplug/scene_eq.xml
+++ b/processed/oakink/ability/bimanual/unplug/scene_eq.xml
@@ -4,13 +4,19 @@
   <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"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
+    <default class="right_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
+    <default class="left_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -46,6 +52,7 @@
     <mesh name="right_5" file="objects/O02@0047@00002/convex/5.obj"/>
     <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
     <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0047@00002/convex/8.obj"/>
     <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
     <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
@@ -54,6 +61,7 @@
     <mesh name="left_5" file="objects/O02@0047@00001/convex/5.obj"/>
     <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
     <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/O02@0047@00001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
   </asset>
@@ -98,10 +106,10 @@
                     <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
                     <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
-                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
@@ -121,9 +129,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
@@ -143,9 +151,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
@@ -165,9 +173,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
@@ -187,9 +195,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -234,10 +242,10 @@
                     <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
-                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.059 0.025 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -257,9 +265,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -279,9 +287,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -301,9 +309,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -323,9 +331,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -336,22 +344,23 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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="0.00980974 0.00883008 0.00582814" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" 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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00980974 0.00883008 0.00582814" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" 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"/>
@@ -385,22 +394,23 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -443,6 +453,7 @@
     <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -451,6 +462,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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"/>
@@ -498,6 +510,9 @@
     <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_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_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_1" geom2="right_object_8" name="collision_hand_right_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_8" name="collision_hand_right_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
@@ -522,6 +537,9 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_7" name="collision_hand_right_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_7" name="collision_hand_right_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_8" name="collision_hand_right_palm_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_8" name="collision_hand_right_palm_2_left_object_8" 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"/>
@@ -546,6 +564,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -554,6 +573,7 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -568,6 +588,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -576,6 +597,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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"/>
@@ -599,6 +621,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -607,6 +630,7 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -621,6 +645,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -629,6 +654,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -651,6 +677,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -659,6 +686,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -673,6 +701,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -681,6 +710,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
@@ -702,6 +732,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -710,6 +741,7 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -724,6 +756,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -732,6 +765,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -752,6 +786,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -760,6 +795,7 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -789,6 +825,9 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_8" name="collision_hand_left_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_8" name="collision_hand_left_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
@@ -813,6 +852,9 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_7" name="collision_hand_left_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_7" name="collision_hand_left_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_8" name="collision_hand_left_palm_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_8" name="collision_hand_left_palm_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -829,6 +871,8 @@
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_8" name="collision_hand_left_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -845,6 +889,8 @@
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_6" name="collision_hand_left_thumb_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_7" name="collision_hand_left_thumb_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_8" name="collision_hand_left_thumb_3_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -865,6 +911,8 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -881,6 +929,8 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -929,6 +979,12 @@
     <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_8" name="collision_hand_left_index_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_8" name="collision_hand_left_index_4_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_8" name="collision_hand_left_index_5_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_8" name="collision_hand_left_index_6_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="left_object_0" name="collision_hand_left_index_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="left_object_0" name="collision_hand_left_index_4_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -977,6 +1033,12 @@
     <pair geom1="collision_hand_left_index_5" geom2="left_object_7" name="collision_hand_left_index_5_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="left_object_7" name="collision_hand_left_index_6_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_8" name="collision_hand_left_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_8" name="collision_hand_left_index_3_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_8" name="collision_hand_left_index_4_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_8" name="collision_hand_left_index_5_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_8" name="collision_hand_left_index_6_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -988,6 +1050,7 @@
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -996,6 +1059,7 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1004,6 +1068,7 @@
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1012,6 +1077,7 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
@@ -1022,6 +1088,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1030,6 +1097,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1038,6 +1106,7 @@
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1046,6 +1115,7 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
@@ -1055,6 +1125,7 @@
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1063,6 +1134,7 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1071,6 +1143,7 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1079,6 +1152,7 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1087,6 +1161,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1095,6 +1170,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1103,6 +1179,7 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1111,6 +1188,7 @@
     <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1119,6 +1197,7 @@
     <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1127,6 +1206,7 @@
     <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1135,6 +1215,7 @@
     <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1143,6 +1224,7 @@
     <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1151,6 +1233,7 @@
     <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1159,6 +1242,16 @@
     <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
@@ -1185,12 +1278,12 @@
   </equality>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -1201,12 +1294,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/oakink/ability/bimanual/wipe_board/0/config.yaml b/processed/oakink/ability/bimanual/wipe_board/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..195ed6c98da8b2d39a93d5476df5ae51f93a09bd
--- /dev/null
+++ b/processed/oakink/ability/bimanual/wipe_board/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: ability
+embodiment_type: bimanual
+task: wipe_board
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/wipe_board/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/wipe_board/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
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+horizon: 2.0
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+max_sim_steps: 682
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
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+use_torch_compile: true
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+show_viewer: true
+viewer: ''
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+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 50
+- 3
+- 6
+- 9
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+- 31
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+ctrl_steps: 40
+nq_obj: 14
+nq: 46
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+nu: 32
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+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/wipe_board/0
diff --git a/processed/oakink/ability/bimanual/wipe_board/0/trajectory_ikrollout.npz b/processed/oakink/ability/bimanual/wipe_board/0/trajectory_ikrollout.npz
index 51192966977dacc6192f77bfd37db085b21953bb..8bf1f7e26f39919ba5546530ea3be9532135e114 100644
--- a/processed/oakink/ability/bimanual/wipe_board/0/trajectory_ikrollout.npz
+++ b/processed/oakink/ability/bimanual/wipe_board/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/ability/bimanual/wipe_board/0/trajectory_kinematic.npz b/processed/oakink/ability/bimanual/wipe_board/0/trajectory_kinematic.npz
index fc9a854e1dd48d39dc54cbfa33de6a642db44a43..30bf041cf6d7f8010936dec7740efddcc19e5b6b 100644
--- a/processed/oakink/ability/bimanual/wipe_board/0/trajectory_kinematic.npz
+++ b/processed/oakink/ability/bimanual/wipe_board/0/trajectory_kinematic.npz
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diff --git a/processed/oakink/ability/bimanual/wipe_board/0/trajectory_mjwp.npz b/processed/oakink/ability/bimanual/wipe_board/0/trajectory_mjwp.npz
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--- a/processed/oakink/ability/bimanual/wipe_board/0/trajectory_mjwp.npz
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diff --git a/processed/oakink/ability/bimanual/wipe_board/0/visualization_ik.mp4 b/processed/oakink/ability/bimanual/wipe_board/0/visualization_ik.mp4
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--- a/processed/oakink/ability/bimanual/wipe_board/0/visualization_mjwp.mp4
+++ b/processed/oakink/ability/bimanual/wipe_board/0/visualization_mjwp.mp4
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diff --git a/processed/oakink/ability/bimanual/wipe_board/1/trajectory_kinematic.npz b/processed/oakink/ability/bimanual/wipe_board/1/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..30bf041cf6d7f8010936dec7740efddcc19e5b6b
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diff --git a/processed/oakink/ability/bimanual/wipe_board/2/config.yaml b/processed/oakink/ability/bimanual/wipe_board/2/config.yaml
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--- /dev/null
+++ b/processed/oakink/ability/bimanual/wipe_board/2/config.yaml
@@ -0,0 +1,92 @@
+robot_type: ability
+embodiment_type: bimanual
+task: wipe_board
+seed: 2
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 2
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/wipe_board/2/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/wipe_board/2/trajectory_kinematic.npz
+simulator: mjwp
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+- -0.005
+- 0.005
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+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
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-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
@@ -180,9 +205,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -228,9 +253,9 @@
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
                     <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="left_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.065 0.028 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -250,9 +275,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -272,9 +297,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -294,9 +319,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -316,9 +341,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -328,16 +353,23 @@
       </body>
     </body>
     <body name="right_object">
-      <joint name="right_object_joint" type="free" armature="0.001" frictionloss="0.01"/>
-      <geom name="right_object_0" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_0"/>
+      <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_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="-0.0312345 -0.0141977 0.00797173" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0312345 -0.0141977 0.00797173" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" size="0.01" 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"/>
@@ -370,23 +402,35 @@
       <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="left_object">
-      <joint name="left_object_joint" type="free" armature="0.001" frictionloss="0.01"/>
-      <geom name="left_object_0" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="left_7"/>
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_10"/>
+      <geom name="left_object_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_11"/>
+      <geom name="left_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_12"/>
+      <geom name="left_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_13"/>
+      <geom name="left_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_14"/>
+      <geom name="left_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_15"/>
+      <geom name="left_object_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_16"/>
+      <geom name="left_object_17" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_17"/>
+      <geom name="left_object_18" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_18"/>
+      <geom name="left_object_19" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_19"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
+      <geom name="left_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_9"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -422,14 +466,33 @@
 
   <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_10" name="floor_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_11" name="floor_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_12" name="floor_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_13" name="floor_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_14" name="floor_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_15" name="floor_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_16" name="floor_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_17" name="floor_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_18" name="floor_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_19" name="floor_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_9" name="floor_left_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"/>
@@ -456,12 +519,63 @@
     <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_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_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_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_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_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_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_1" geom2="right_object_3" name="collision_hand_right_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_3" name="collision_hand_right_palm_2_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_1" geom2="right_object_4" name="collision_hand_right_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_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_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_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_1" geom2="right_object_6" name="collision_hand_right_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_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_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_1" name="collision_hand_right_palm_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_1" name="collision_hand_right_palm_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_10" name="collision_hand_right_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_10" name="collision_hand_right_palm_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_10" name="collision_hand_right_palm_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_11" name="collision_hand_right_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_11" name="collision_hand_right_palm_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_11" name="collision_hand_right_palm_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_12" name="collision_hand_right_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_12" name="collision_hand_right_palm_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_12" name="collision_hand_right_palm_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_13" name="collision_hand_right_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_13" name="collision_hand_right_palm_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_13" name="collision_hand_right_palm_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_14" name="collision_hand_right_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_14" name="collision_hand_right_palm_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_14" name="collision_hand_right_palm_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_15" name="collision_hand_right_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_15" name="collision_hand_right_palm_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_15" name="collision_hand_right_palm_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_16" name="collision_hand_right_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_16" name="collision_hand_right_palm_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_16" name="collision_hand_right_palm_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_17" name="collision_hand_right_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_17" name="collision_hand_right_palm_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_17" name="collision_hand_right_palm_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_18" name="collision_hand_right_palm_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_18" name="collision_hand_right_palm_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_18" name="collision_hand_right_palm_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_19" name="collision_hand_right_palm_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_19" name="collision_hand_right_palm_1_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_19" name="collision_hand_right_palm_2_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_2" name="collision_hand_right_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_2" name="collision_hand_right_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -480,6 +594,12 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_7" name="collision_hand_right_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_7" name="collision_hand_right_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_8" name="collision_hand_right_palm_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_8" name="collision_hand_right_palm_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_9" name="collision_hand_right_palm_0_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_9" name="collision_hand_right_palm_1_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_9" name="collision_hand_right_palm_2_left_object_9" 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"/>
@@ -497,14 +617,33 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_10" name="collision_hand_right_thumb_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_11" name="collision_hand_right_thumb_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_12" name="collision_hand_right_thumb_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_13" name="collision_hand_right_thumb_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_14" name="collision_hand_right_thumb_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_15" name="collision_hand_right_thumb_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_16" name="collision_hand_right_thumb_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_17" name="collision_hand_right_thumb_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_18" name="collision_hand_right_thumb_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_19" name="collision_hand_right_thumb_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_9" name="collision_hand_right_thumb_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -512,14 +651,33 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_10" name="collision_hand_right_index_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_11" name="collision_hand_right_index_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_12" name="collision_hand_right_index_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_13" name="collision_hand_right_index_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_14" name="collision_hand_right_index_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_15" name="collision_hand_right_index_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_16" name="collision_hand_right_index_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_17" name="collision_hand_right_index_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_18" name="collision_hand_right_index_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_19" name="collision_hand_right_index_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_9" name="collision_hand_right_index_1_left_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"/>
     <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"/>
@@ -536,14 +694,33 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_index_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_10" name="collision_hand_right_index_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_11" name="collision_hand_right_index_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_12" name="collision_hand_right_index_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_13" name="collision_hand_right_index_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_14" name="collision_hand_right_index_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_15" name="collision_hand_right_index_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_16" name="collision_hand_right_index_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_17" name="collision_hand_right_index_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_18" name="collision_hand_right_index_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_19" name="collision_hand_right_index_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_9" name="collision_hand_right_index_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -551,14 +728,33 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_10" name="collision_hand_right_middle_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_11" name="collision_hand_right_middle_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_12" name="collision_hand_right_middle_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_13" name="collision_hand_right_middle_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_14" name="collision_hand_right_middle_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_15" name="collision_hand_right_middle_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_16" name="collision_hand_right_middle_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_17" name="collision_hand_right_middle_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_18" name="collision_hand_right_middle_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_19" name="collision_hand_right_middle_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_9" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -574,14 +770,33 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_10" name="collision_hand_right_middle_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_11" name="collision_hand_right_middle_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_12" name="collision_hand_right_middle_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_13" name="collision_hand_right_middle_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_14" name="collision_hand_right_middle_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_15" name="collision_hand_right_middle_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_16" name="collision_hand_right_middle_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_17" name="collision_hand_right_middle_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_18" name="collision_hand_right_middle_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_19" name="collision_hand_right_middle_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_9" name="collision_hand_right_middle_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -589,14 +804,33 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_10" name="collision_hand_right_ring_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_11" name="collision_hand_right_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_12" name="collision_hand_right_ring_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_13" name="collision_hand_right_ring_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_14" name="collision_hand_right_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_15" name="collision_hand_right_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_16" name="collision_hand_right_ring_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_17" name="collision_hand_right_ring_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_18" name="collision_hand_right_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_19" name="collision_hand_right_ring_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_9" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
@@ -611,14 +845,33 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_10" name="collision_hand_right_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_11" name="collision_hand_right_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_12" name="collision_hand_right_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_13" name="collision_hand_right_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_14" name="collision_hand_right_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_15" name="collision_hand_right_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_16" name="collision_hand_right_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_17" name="collision_hand_right_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_18" name="collision_hand_right_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_19" name="collision_hand_right_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_9" name="collision_hand_right_ring_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -626,14 +879,33 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_10" name="collision_hand_right_pinky_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_11" name="collision_hand_right_pinky_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_12" name="collision_hand_right_pinky_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_13" name="collision_hand_right_pinky_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_14" name="collision_hand_right_pinky_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_15" name="collision_hand_right_pinky_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_16" name="collision_hand_right_pinky_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_17" name="collision_hand_right_pinky_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_18" name="collision_hand_right_pinky_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_19" name="collision_hand_right_pinky_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_9" name="collision_hand_right_pinky_1_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -647,14 +919,33 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_10" name="collision_hand_right_pinky_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_11" name="collision_hand_right_pinky_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_12" name="collision_hand_right_pinky_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_13" name="collision_hand_right_pinky_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_14" name="collision_hand_right_pinky_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_15" name="collision_hand_right_pinky_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_16" name="collision_hand_right_pinky_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_17" name="collision_hand_right_pinky_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_18" name="collision_hand_right_pinky_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_19" name="collision_hand_right_pinky_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_9" name="collision_hand_right_pinky_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -663,12 +954,63 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_3" name="collision_hand_left_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_3" name="collision_hand_left_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_1" name="collision_hand_left_palm_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_1" name="collision_hand_left_palm_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_10" name="collision_hand_left_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_10" name="collision_hand_left_palm_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_10" name="collision_hand_left_palm_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_11" name="collision_hand_left_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_11" name="collision_hand_left_palm_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_11" name="collision_hand_left_palm_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_12" name="collision_hand_left_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_12" name="collision_hand_left_palm_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_12" name="collision_hand_left_palm_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_13" name="collision_hand_left_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_13" name="collision_hand_left_palm_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_13" name="collision_hand_left_palm_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_14" name="collision_hand_left_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_14" name="collision_hand_left_palm_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_14" name="collision_hand_left_palm_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_15" name="collision_hand_left_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_15" name="collision_hand_left_palm_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_15" name="collision_hand_left_palm_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_16" name="collision_hand_left_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_16" name="collision_hand_left_palm_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_16" name="collision_hand_left_palm_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_17" name="collision_hand_left_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_17" name="collision_hand_left_palm_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_17" name="collision_hand_left_palm_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_18" name="collision_hand_left_palm_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_18" name="collision_hand_left_palm_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_18" name="collision_hand_left_palm_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_19" name="collision_hand_left_palm_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_19" name="collision_hand_left_palm_1_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_19" name="collision_hand_left_palm_2_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_2" name="collision_hand_left_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_2" name="collision_hand_left_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -687,12 +1029,52 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_7" name="collision_hand_left_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_7" name="collision_hand_left_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_8" name="collision_hand_left_palm_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_8" name="collision_hand_left_palm_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_9" name="collision_hand_left_palm_0_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_9" name="collision_hand_left_palm_1_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_9" name="collision_hand_left_palm_2_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_3" name="collision_hand_left_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_1" name="collision_hand_left_thumb_3_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_10" name="collision_hand_left_thumb_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_10" name="collision_hand_left_thumb_3_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_11" name="collision_hand_left_thumb_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_11" name="collision_hand_left_thumb_3_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_12" name="collision_hand_left_thumb_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_12" name="collision_hand_left_thumb_3_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_13" name="collision_hand_left_thumb_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_13" name="collision_hand_left_thumb_3_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_14" name="collision_hand_left_thumb_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_14" name="collision_hand_left_thumb_3_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_15" name="collision_hand_left_thumb_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_15" name="collision_hand_left_thumb_3_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_16" name="collision_hand_left_thumb_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_16" name="collision_hand_left_thumb_3_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_17" name="collision_hand_left_thumb_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_17" name="collision_hand_left_thumb_3_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_18" name="collision_hand_left_thumb_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_18" name="collision_hand_left_thumb_3_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_19" name="collision_hand_left_thumb_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_19" name="collision_hand_left_thumb_3_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_2" name="collision_hand_left_thumb_3_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
@@ -705,16 +1087,54 @@
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_6" name="collision_hand_left_thumb_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_7" name="collision_hand_left_thumb_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_8" name="collision_hand_left_thumb_3_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_9" name="collision_hand_left_thumb_2_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_9" name="collision_hand_left_thumb_3_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_10" name="collision_hand_left_thumb_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_10" name="collision_hand_left_thumb_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_11" name="collision_hand_left_thumb_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_11" name="collision_hand_left_thumb_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_12" name="collision_hand_left_thumb_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_12" name="collision_hand_left_thumb_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_13" name="collision_hand_left_thumb_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_13" name="collision_hand_left_thumb_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_14" name="collision_hand_left_thumb_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_14" name="collision_hand_left_thumb_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_15" name="collision_hand_left_thumb_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_15" name="collision_hand_left_thumb_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_16" name="collision_hand_left_thumb_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_16" name="collision_hand_left_thumb_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_17" name="collision_hand_left_thumb_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_17" name="collision_hand_left_thumb_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_18" name="collision_hand_left_thumb_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_18" name="collision_hand_left_thumb_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_19" name="collision_hand_left_thumb_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_19" name="collision_hand_left_thumb_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
@@ -727,12 +1147,58 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_9" name="collision_hand_left_thumb_1_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_9" name="collision_hand_left_thumb_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_5" geom2="right_object_0" name="collision_hand_left_index_5_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_0" name="collision_hand_left_index_6_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_1" name="collision_hand_left_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_1" name="collision_hand_left_index_4_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_2" name="collision_hand_left_index_5_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_2" name="collision_hand_left_index_6_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_3" name="collision_hand_left_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_3" name="collision_hand_left_index_4_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_3" name="collision_hand_left_index_5_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_3" name="collision_hand_left_index_6_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_4" name="collision_hand_left_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_4" name="collision_hand_left_index_4_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_4" name="collision_hand_left_index_5_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_4" name="collision_hand_left_index_6_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_5" name="collision_hand_left_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_5" name="collision_hand_left_index_4_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_5" name="collision_hand_left_index_5_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_5" name="collision_hand_left_index_6_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_6" name="collision_hand_left_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_6" name="collision_hand_left_index_4_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_6" name="collision_hand_left_index_5_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_6" name="collision_hand_left_index_6_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_7" name="collision_hand_left_index_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_7" name="collision_hand_left_index_4_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="left_object_0" name="collision_hand_left_index_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="left_object_0" name="collision_hand_left_index_4_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -745,6 +1211,66 @@
     <pair geom1="collision_hand_left_index_5" geom2="left_object_1" name="collision_hand_left_index_5_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="left_object_1" name="collision_hand_left_index_6_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_10" name="collision_hand_left_index_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_10" name="collision_hand_left_index_3_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_10" name="collision_hand_left_index_4_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_10" name="collision_hand_left_index_5_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_10" name="collision_hand_left_index_6_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_10" name="collision_hand_left_index_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_11" name="collision_hand_left_index_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_11" name="collision_hand_left_index_3_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_11" name="collision_hand_left_index_4_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_11" name="collision_hand_left_index_5_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_11" name="collision_hand_left_index_6_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_11" name="collision_hand_left_index_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_12" name="collision_hand_left_index_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_12" name="collision_hand_left_index_3_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_12" name="collision_hand_left_index_4_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_12" name="collision_hand_left_index_5_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_12" name="collision_hand_left_index_6_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_12" name="collision_hand_left_index_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_13" name="collision_hand_left_index_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_13" name="collision_hand_left_index_3_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_13" name="collision_hand_left_index_4_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_13" name="collision_hand_left_index_5_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_13" name="collision_hand_left_index_6_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_13" name="collision_hand_left_index_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_14" name="collision_hand_left_index_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_14" name="collision_hand_left_index_3_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_14" name="collision_hand_left_index_4_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_14" name="collision_hand_left_index_5_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_14" name="collision_hand_left_index_6_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_14" name="collision_hand_left_index_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_15" name="collision_hand_left_index_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_15" name="collision_hand_left_index_3_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_15" name="collision_hand_left_index_4_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_15" name="collision_hand_left_index_5_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_15" name="collision_hand_left_index_6_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_15" name="collision_hand_left_index_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_16" name="collision_hand_left_index_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_16" name="collision_hand_left_index_3_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_16" name="collision_hand_left_index_4_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_16" name="collision_hand_left_index_5_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_16" name="collision_hand_left_index_6_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_16" name="collision_hand_left_index_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_17" name="collision_hand_left_index_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_17" name="collision_hand_left_index_3_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_17" name="collision_hand_left_index_4_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_17" name="collision_hand_left_index_5_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_17" name="collision_hand_left_index_6_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_17" name="collision_hand_left_index_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_18" name="collision_hand_left_index_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_18" name="collision_hand_left_index_3_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_18" name="collision_hand_left_index_4_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_18" name="collision_hand_left_index_5_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_18" name="collision_hand_left_index_6_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_18" name="collision_hand_left_index_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_19" name="collision_hand_left_index_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_19" name="collision_hand_left_index_3_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_19" name="collision_hand_left_index_4_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_19" name="collision_hand_left_index_5_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_19" name="collision_hand_left_index_6_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_19" name="collision_hand_left_index_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="left_object_2" name="collision_hand_left_index_3_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="left_object_2" name="collision_hand_left_index_4_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -781,92 +1307,389 @@
     <pair geom1="collision_hand_left_index_5" geom2="left_object_7" name="collision_hand_left_index_5_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="left_object_7" name="collision_hand_left_index_6_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_8" name="collision_hand_left_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_8" name="collision_hand_left_index_3_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_8" name="collision_hand_left_index_4_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_8" name="collision_hand_left_index_5_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_10" name="collision_hand_left_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_11" name="collision_hand_left_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_12" name="collision_hand_left_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_13" name="collision_hand_left_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_14" name="collision_hand_left_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_15" name="collision_hand_left_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_16" name="collision_hand_left_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_17" name="collision_hand_left_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_18" name="collision_hand_left_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_19" name="collision_hand_left_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_9" name="collision_hand_left_ring_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_10" name="collision_hand_left_pinky_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_11" name="collision_hand_left_pinky_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_12" name="collision_hand_left_pinky_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_13" name="collision_hand_left_pinky_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_14" name="collision_hand_left_pinky_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_15" name="collision_hand_left_pinky_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_16" name="collision_hand_left_pinky_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_17" name="collision_hand_left_pinky_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_18" name="collision_hand_left_pinky_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_19" name="collision_hand_left_pinky_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_9" name="collision_hand_left_pinky_1_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_10" name="collision_hand_left_pinky_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_11" name="collision_hand_left_pinky_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_12" name="collision_hand_left_pinky_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_13" name="collision_hand_left_pinky_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_14" name="collision_hand_left_pinky_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_15" name="collision_hand_left_pinky_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_16" name="collision_hand_left_pinky_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_17" name="collision_hand_left_pinky_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_18" name="collision_hand_left_pinky_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_19" name="collision_hand_left_pinky_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_9" name="collision_hand_left_pinky_0_left_object_9" friction="1 1 0.1 0 0"/>
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     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_10" name="right_object_0_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_11" name="right_object_0_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_12" name="right_object_0_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_13" name="right_object_0_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_14" name="right_object_0_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_15" name="right_object_0_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_16" name="right_object_0_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_17" name="right_object_0_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_18" name="right_object_0_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_19" name="right_object_0_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_9" name="right_object_0_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_10" name="right_object_1_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_11" name="right_object_1_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_12" name="right_object_1_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_13" name="right_object_1_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_14" name="right_object_1_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_15" name="right_object_1_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_16" name="right_object_1_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_17" name="right_object_1_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_18" name="right_object_1_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_19" name="right_object_1_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_9" name="right_object_1_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_10" name="right_object_2_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_11" name="right_object_2_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_12" name="right_object_2_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_13" name="right_object_2_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_14" name="right_object_2_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_15" name="right_object_2_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_16" name="right_object_2_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_17" name="right_object_2_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_18" name="right_object_2_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_19" name="right_object_2_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_9" name="right_object_2_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_10" name="right_object_3_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_11" name="right_object_3_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_12" name="right_object_3_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_13" name="right_object_3_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_14" name="right_object_3_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_15" name="right_object_3_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_16" name="right_object_3_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_17" name="right_object_3_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_18" name="right_object_3_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_19" name="right_object_3_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_9" name="right_object_3_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_10" name="right_object_4_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_11" name="right_object_4_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_12" name="right_object_4_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_13" name="right_object_4_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_14" name="right_object_4_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_15" name="right_object_4_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_16" name="right_object_4_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_17" name="right_object_4_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_18" name="right_object_4_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_19" name="right_object_4_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_9" name="right_object_4_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_10" name="right_object_5_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_11" name="right_object_5_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_12" name="right_object_5_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_13" name="right_object_5_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_14" name="right_object_5_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_15" name="right_object_5_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_16" name="right_object_5_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_17" name="right_object_5_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_18" name="right_object_5_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_19" name="right_object_5_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_9" name="right_object_5_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_10" name="right_object_6_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_11" name="right_object_6_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_12" name="right_object_6_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_13" name="right_object_6_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_14" name="right_object_6_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_15" name="right_object_6_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_16" name="right_object_6_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_17" name="right_object_6_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_18" name="right_object_6_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_19" name="right_object_6_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_9" name="right_object_6_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_10" name="right_object_7_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_11" name="right_object_7_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_12" name="right_object_7_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_13" name="right_object_7_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_14" name="right_object_7_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_15" name="right_object_7_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_16" name="right_object_7_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_17" name="right_object_7_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_18" name="right_object_7_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_19" name="right_object_7_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_9" name="right_object_7_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -877,12 +1700,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/oakink/ability/bimanual/wipe_board/scene_eq.xml b/processed/oakink/ability/bimanual/wipe_board/scene_eq.xml
index 997ff0678c1183dbf3510c4ae30c3dc24909eb8a..ec4c89468460a24224edbbddbd9bfda5a7845acb 100644
--- a/processed/oakink/ability/bimanual/wipe_board/scene_eq.xml
+++ b/processed/oakink/ability/bimanual/wipe_board/scene_eq.xml
@@ -4,13 +4,19 @@
   <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"/>
+    <site group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
+    <default class="right_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
+    <default class="left_base">
+      <general gainprm="300" biasprm="0 -300 3"/>
+    </default>
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -38,17 +44,36 @@
     <mesh name="left_idx-F1" file="robots/ability/assets/idx-F1.obj"/>
     <mesh name="left_idx-F2" file="robots/ability/assets/idx-F2.obj"/>
     <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
-    <mesh name="right_0" file="../../../../../retarget/example_datasets/processed/oakink/assets/objects/O02@0055@00002/convex/0.obj"/>
-    <mesh name="left_0" file="../../../../../retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001/convex/0.obj"/>
-    <mesh name="left_1" file="../../../../../retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001/convex/1.obj"/>
-    <mesh name="left_2" file="../../../../../retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001/convex/2.obj"/>
-    <mesh name="left_3" file="../../../../../retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001/convex/3.obj"/>
-    <mesh name="left_4" file="../../../../../retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001/convex/4.obj"/>
-    <mesh name="left_5" file="../../../../../retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001/convex/5.obj"/>
-    <mesh name="left_6" file="../../../../../retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001/convex/6.obj"/>
-    <mesh name="left_7" file="../../../../../retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001/convex/7.obj"/>
-    <mesh name="right_visual" file="../../../../../retarget/example_datasets/processed/oakink/assets/objects/O02@0055@00002/visual.obj"/>
-    <mesh name="left_visual" file="../../../../../retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001/visual.obj"/>
+    <mesh name="right_0" file="objects/O02@0055@00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0055@00002/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0055@00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0055@00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0055@00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0055@00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0055@00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0055@00002/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0054@00001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0054@00001/convex/1.obj"/>
+    <mesh name="left_10" file="objects/O02@0054@00001/convex/10.obj"/>
+    <mesh name="left_11" file="objects/O02@0054@00001/convex/11.obj"/>
+    <mesh name="left_12" file="objects/O02@0054@00001/convex/12.obj"/>
+    <mesh name="left_13" file="objects/O02@0054@00001/convex/13.obj"/>
+    <mesh name="left_14" file="objects/O02@0054@00001/convex/14.obj"/>
+    <mesh name="left_15" file="objects/O02@0054@00001/convex/15.obj"/>
+    <mesh name="left_16" file="objects/O02@0054@00001/convex/16.obj"/>
+    <mesh name="left_17" file="objects/O02@0054@00001/convex/17.obj"/>
+    <mesh name="left_18" file="objects/O02@0054@00001/convex/18.obj"/>
+    <mesh name="left_19" file="objects/O02@0054@00001/convex/19.obj"/>
+    <mesh name="left_2" file="objects/O02@0054@00001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0054@00001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0054@00001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0054@00001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0054@00001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0054@00001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/O02@0054@00001/convex/8.obj"/>
+    <mesh name="left_9" file="objects/O02@0054@00001/convex/9.obj"/>
+    <mesh name="right_visual" file="objects/O02@0055@00002/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0054@00001/visual.obj"/>
   </asset>
 
   <worldbody>
@@ -92,9 +117,9 @@
                     <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
                     <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
                     <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="right_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.065 0.028 0"/>
                   </body>
                 </body>
                 <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
@@ -114,9 +139,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
@@ -136,9 +161,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
@@ -158,9 +183,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
@@ -180,9 +205,9 @@
                     <geom type="mesh" mesh="right_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -228,9 +253,9 @@
                     <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
                     <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="left_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.065 0.028 0"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.065 0.028 0"/>
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
@@ -250,9 +275,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
@@ -272,9 +297,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
@@ -294,9 +319,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
@@ -316,9 +341,9 @@
                     <geom type="mesh" mesh="left_idx-F2_C"/>
                     <geom size="0.007" pos="0.03 -0.016 0"/>
                     <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
                   </body>
                 </body>
               </body>
@@ -328,16 +353,23 @@
       </body>
     </body>
     <body name="right_object">
-      <joint name="right_object_joint" type="free" armature="0.001" frictionloss="0.01"/>
-      <geom name="right_object_0" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_0"/>
+      <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_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="-0.0312345 -0.0141977 0.00797173" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0312345 -0.0141977 0.00797173" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" size="0.01" 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"/>
@@ -370,23 +402,35 @@
       <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="left_object">
-      <joint name="left_object_joint" type="free" armature="0.001" frictionloss="0.01"/>
-      <geom name="left_object_0" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="left_7"/>
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_10"/>
+      <geom name="left_object_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_11"/>
+      <geom name="left_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_12"/>
+      <geom name="left_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_13"/>
+      <geom name="left_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_14"/>
+      <geom name="left_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_15"/>
+      <geom name="left_object_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_16"/>
+      <geom name="left_object_17" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_17"/>
+      <geom name="left_object_18" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_18"/>
+      <geom name="left_object_19" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_19"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
+      <geom name="left_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_9"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -422,14 +466,33 @@
 
   <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_10" name="floor_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_11" name="floor_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_12" name="floor_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_13" name="floor_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_14" name="floor_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_15" name="floor_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_16" name="floor_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_17" name="floor_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_18" name="floor_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_19" name="floor_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_9" name="floor_left_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"/>
@@ -456,12 +519,63 @@
     <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_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_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_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_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_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_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_1" geom2="right_object_3" name="collision_hand_right_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_3" name="collision_hand_right_palm_2_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_1" geom2="right_object_4" name="collision_hand_right_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_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_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_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_1" geom2="right_object_6" name="collision_hand_right_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_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_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_1" name="collision_hand_right_palm_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_1" name="collision_hand_right_palm_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_10" name="collision_hand_right_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_10" name="collision_hand_right_palm_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_10" name="collision_hand_right_palm_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_11" name="collision_hand_right_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_11" name="collision_hand_right_palm_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_11" name="collision_hand_right_palm_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_12" name="collision_hand_right_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_12" name="collision_hand_right_palm_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_12" name="collision_hand_right_palm_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_13" name="collision_hand_right_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_13" name="collision_hand_right_palm_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_13" name="collision_hand_right_palm_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_14" name="collision_hand_right_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_14" name="collision_hand_right_palm_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_14" name="collision_hand_right_palm_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_15" name="collision_hand_right_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_15" name="collision_hand_right_palm_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_15" name="collision_hand_right_palm_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_16" name="collision_hand_right_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_16" name="collision_hand_right_palm_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_16" name="collision_hand_right_palm_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_17" name="collision_hand_right_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_17" name="collision_hand_right_palm_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_17" name="collision_hand_right_palm_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_18" name="collision_hand_right_palm_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_18" name="collision_hand_right_palm_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_18" name="collision_hand_right_palm_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_19" name="collision_hand_right_palm_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_19" name="collision_hand_right_palm_1_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_19" name="collision_hand_right_palm_2_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_2" name="collision_hand_right_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_2" name="collision_hand_right_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -480,6 +594,12 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_1" geom2="left_object_7" name="collision_hand_right_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_2" geom2="left_object_7" name="collision_hand_right_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_8" name="collision_hand_right_palm_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_8" name="collision_hand_right_palm_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_9" name="collision_hand_right_palm_0_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_9" name="collision_hand_right_palm_1_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_9" name="collision_hand_right_palm_2_left_object_9" 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"/>
@@ -497,14 +617,33 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_10" name="collision_hand_right_thumb_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_11" name="collision_hand_right_thumb_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_12" name="collision_hand_right_thumb_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_13" name="collision_hand_right_thumb_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_14" name="collision_hand_right_thumb_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_15" name="collision_hand_right_thumb_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_16" name="collision_hand_right_thumb_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_17" name="collision_hand_right_thumb_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_18" name="collision_hand_right_thumb_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_19" name="collision_hand_right_thumb_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_9" name="collision_hand_right_thumb_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -512,14 +651,33 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_10" name="collision_hand_right_index_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_11" name="collision_hand_right_index_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_12" name="collision_hand_right_index_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_13" name="collision_hand_right_index_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_14" name="collision_hand_right_index_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_15" name="collision_hand_right_index_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_16" name="collision_hand_right_index_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_17" name="collision_hand_right_index_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_18" name="collision_hand_right_index_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_19" name="collision_hand_right_index_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_9" name="collision_hand_right_index_1_left_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"/>
     <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"/>
@@ -536,14 +694,33 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_index_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_10" name="collision_hand_right_index_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_11" name="collision_hand_right_index_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_12" name="collision_hand_right_index_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_13" name="collision_hand_right_index_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_14" name="collision_hand_right_index_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_15" name="collision_hand_right_index_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_16" name="collision_hand_right_index_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_17" name="collision_hand_right_index_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_18" name="collision_hand_right_index_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_19" name="collision_hand_right_index_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_9" name="collision_hand_right_index_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -551,14 +728,33 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_10" name="collision_hand_right_middle_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_11" name="collision_hand_right_middle_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_12" name="collision_hand_right_middle_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_13" name="collision_hand_right_middle_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_14" name="collision_hand_right_middle_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_15" name="collision_hand_right_middle_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_16" name="collision_hand_right_middle_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_17" name="collision_hand_right_middle_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_18" name="collision_hand_right_middle_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_19" name="collision_hand_right_middle_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_9" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -574,14 +770,33 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_10" name="collision_hand_right_middle_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_11" name="collision_hand_right_middle_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_12" name="collision_hand_right_middle_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_13" name="collision_hand_right_middle_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_14" name="collision_hand_right_middle_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_15" name="collision_hand_right_middle_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_16" name="collision_hand_right_middle_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_17" name="collision_hand_right_middle_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_18" name="collision_hand_right_middle_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_19" name="collision_hand_right_middle_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_9" name="collision_hand_right_middle_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -589,14 +804,33 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_10" name="collision_hand_right_ring_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_11" name="collision_hand_right_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_12" name="collision_hand_right_ring_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_13" name="collision_hand_right_ring_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_14" name="collision_hand_right_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_15" name="collision_hand_right_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_16" name="collision_hand_right_ring_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_17" name="collision_hand_right_ring_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_18" name="collision_hand_right_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_19" name="collision_hand_right_ring_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_9" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
@@ -611,14 +845,33 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_10" name="collision_hand_right_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_11" name="collision_hand_right_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_12" name="collision_hand_right_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_13" name="collision_hand_right_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_14" name="collision_hand_right_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_15" name="collision_hand_right_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_16" name="collision_hand_right_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_17" name="collision_hand_right_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_18" name="collision_hand_right_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_19" name="collision_hand_right_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_9" name="collision_hand_right_ring_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -626,14 +879,33 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_10" name="collision_hand_right_pinky_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_11" name="collision_hand_right_pinky_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_12" name="collision_hand_right_pinky_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_13" name="collision_hand_right_pinky_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_14" name="collision_hand_right_pinky_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_15" name="collision_hand_right_pinky_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_16" name="collision_hand_right_pinky_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_17" name="collision_hand_right_pinky_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_18" name="collision_hand_right_pinky_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_19" name="collision_hand_right_pinky_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_9" name="collision_hand_right_pinky_1_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -647,14 +919,33 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_10" name="collision_hand_right_pinky_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_11" name="collision_hand_right_pinky_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_12" name="collision_hand_right_pinky_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_13" name="collision_hand_right_pinky_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_14" name="collision_hand_right_pinky_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_15" name="collision_hand_right_pinky_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_16" name="collision_hand_right_pinky_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_17" name="collision_hand_right_pinky_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_18" name="collision_hand_right_pinky_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_19" name="collision_hand_right_pinky_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_9" name="collision_hand_right_pinky_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -663,12 +954,63 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_3" name="collision_hand_left_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_3" name="collision_hand_left_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_1" name="collision_hand_left_palm_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_1" name="collision_hand_left_palm_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_10" name="collision_hand_left_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_10" name="collision_hand_left_palm_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_10" name="collision_hand_left_palm_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_11" name="collision_hand_left_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_11" name="collision_hand_left_palm_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_11" name="collision_hand_left_palm_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_12" name="collision_hand_left_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_12" name="collision_hand_left_palm_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_12" name="collision_hand_left_palm_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_13" name="collision_hand_left_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_13" name="collision_hand_left_palm_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_13" name="collision_hand_left_palm_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_14" name="collision_hand_left_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_14" name="collision_hand_left_palm_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_14" name="collision_hand_left_palm_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_15" name="collision_hand_left_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_15" name="collision_hand_left_palm_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_15" name="collision_hand_left_palm_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_16" name="collision_hand_left_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_16" name="collision_hand_left_palm_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_16" name="collision_hand_left_palm_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_17" name="collision_hand_left_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_17" name="collision_hand_left_palm_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_17" name="collision_hand_left_palm_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_18" name="collision_hand_left_palm_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_18" name="collision_hand_left_palm_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_18" name="collision_hand_left_palm_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_19" name="collision_hand_left_palm_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_19" name="collision_hand_left_palm_1_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_19" name="collision_hand_left_palm_2_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_2" name="collision_hand_left_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_2" name="collision_hand_left_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -687,12 +1029,52 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_1" geom2="left_object_7" name="collision_hand_left_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_2" geom2="left_object_7" name="collision_hand_left_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_8" name="collision_hand_left_palm_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_8" name="collision_hand_left_palm_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_9" name="collision_hand_left_palm_0_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_9" name="collision_hand_left_palm_1_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_9" name="collision_hand_left_palm_2_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_3" name="collision_hand_left_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_1" name="collision_hand_left_thumb_3_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_10" name="collision_hand_left_thumb_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_10" name="collision_hand_left_thumb_3_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_11" name="collision_hand_left_thumb_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_11" name="collision_hand_left_thumb_3_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_12" name="collision_hand_left_thumb_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_12" name="collision_hand_left_thumb_3_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_13" name="collision_hand_left_thumb_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_13" name="collision_hand_left_thumb_3_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_14" name="collision_hand_left_thumb_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_14" name="collision_hand_left_thumb_3_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_15" name="collision_hand_left_thumb_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_15" name="collision_hand_left_thumb_3_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_16" name="collision_hand_left_thumb_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_16" name="collision_hand_left_thumb_3_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_17" name="collision_hand_left_thumb_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_17" name="collision_hand_left_thumb_3_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_18" name="collision_hand_left_thumb_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_18" name="collision_hand_left_thumb_3_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_19" name="collision_hand_left_thumb_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_19" name="collision_hand_left_thumb_3_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_2" name="collision_hand_left_thumb_3_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
@@ -705,16 +1087,54 @@
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_6" name="collision_hand_left_thumb_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_3" geom2="left_object_7" name="collision_hand_left_thumb_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_8" name="collision_hand_left_thumb_3_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_9" name="collision_hand_left_thumb_2_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_9" name="collision_hand_left_thumb_3_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_10" name="collision_hand_left_thumb_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_10" name="collision_hand_left_thumb_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_11" name="collision_hand_left_thumb_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_11" name="collision_hand_left_thumb_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_12" name="collision_hand_left_thumb_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_12" name="collision_hand_left_thumb_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_13" name="collision_hand_left_thumb_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_13" name="collision_hand_left_thumb_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_14" name="collision_hand_left_thumb_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_14" name="collision_hand_left_thumb_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_15" name="collision_hand_left_thumb_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_15" name="collision_hand_left_thumb_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_16" name="collision_hand_left_thumb_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_16" name="collision_hand_left_thumb_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_17" name="collision_hand_left_thumb_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_17" name="collision_hand_left_thumb_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_18" name="collision_hand_left_thumb_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_18" name="collision_hand_left_thumb_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_19" name="collision_hand_left_thumb_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_19" name="collision_hand_left_thumb_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
@@ -727,12 +1147,58 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_9" name="collision_hand_left_thumb_1_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_9" name="collision_hand_left_thumb_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_5" geom2="right_object_0" name="collision_hand_left_index_5_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="right_object_0" name="collision_hand_left_index_6_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_1" name="collision_hand_left_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_1" name="collision_hand_left_index_4_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_2" name="collision_hand_left_index_5_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_2" name="collision_hand_left_index_6_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_3" name="collision_hand_left_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_3" name="collision_hand_left_index_4_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_3" name="collision_hand_left_index_5_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_3" name="collision_hand_left_index_6_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_4" name="collision_hand_left_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_4" name="collision_hand_left_index_4_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_4" name="collision_hand_left_index_5_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_4" name="collision_hand_left_index_6_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_5" name="collision_hand_left_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_5" name="collision_hand_left_index_4_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_5" name="collision_hand_left_index_5_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_5" name="collision_hand_left_index_6_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_6" name="collision_hand_left_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_6" name="collision_hand_left_index_4_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_6" name="collision_hand_left_index_5_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_6" name="collision_hand_left_index_6_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_7" name="collision_hand_left_index_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_7" name="collision_hand_left_index_4_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="left_object_0" name="collision_hand_left_index_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="left_object_0" name="collision_hand_left_index_4_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -745,6 +1211,66 @@
     <pair geom1="collision_hand_left_index_5" geom2="left_object_1" name="collision_hand_left_index_5_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="left_object_1" name="collision_hand_left_index_6_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_10" name="collision_hand_left_index_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_10" name="collision_hand_left_index_3_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_10" name="collision_hand_left_index_4_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_10" name="collision_hand_left_index_5_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_10" name="collision_hand_left_index_6_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_10" name="collision_hand_left_index_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_11" name="collision_hand_left_index_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_11" name="collision_hand_left_index_3_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_11" name="collision_hand_left_index_4_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_11" name="collision_hand_left_index_5_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_11" name="collision_hand_left_index_6_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_11" name="collision_hand_left_index_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_12" name="collision_hand_left_index_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_12" name="collision_hand_left_index_3_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_12" name="collision_hand_left_index_4_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_12" name="collision_hand_left_index_5_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_12" name="collision_hand_left_index_6_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_12" name="collision_hand_left_index_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_13" name="collision_hand_left_index_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_13" name="collision_hand_left_index_3_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_13" name="collision_hand_left_index_4_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_13" name="collision_hand_left_index_5_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_13" name="collision_hand_left_index_6_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_13" name="collision_hand_left_index_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_14" name="collision_hand_left_index_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_14" name="collision_hand_left_index_3_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_14" name="collision_hand_left_index_4_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_14" name="collision_hand_left_index_5_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_14" name="collision_hand_left_index_6_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_14" name="collision_hand_left_index_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_15" name="collision_hand_left_index_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_15" name="collision_hand_left_index_3_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_15" name="collision_hand_left_index_4_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_15" name="collision_hand_left_index_5_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_15" name="collision_hand_left_index_6_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_15" name="collision_hand_left_index_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_16" name="collision_hand_left_index_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_16" name="collision_hand_left_index_3_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_16" name="collision_hand_left_index_4_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_16" name="collision_hand_left_index_5_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_16" name="collision_hand_left_index_6_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_16" name="collision_hand_left_index_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_17" name="collision_hand_left_index_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_17" name="collision_hand_left_index_3_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_17" name="collision_hand_left_index_4_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_17" name="collision_hand_left_index_5_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_17" name="collision_hand_left_index_6_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_17" name="collision_hand_left_index_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_18" name="collision_hand_left_index_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_18" name="collision_hand_left_index_3_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_18" name="collision_hand_left_index_4_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_18" name="collision_hand_left_index_5_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_18" name="collision_hand_left_index_6_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_18" name="collision_hand_left_index_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_19" name="collision_hand_left_index_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_19" name="collision_hand_left_index_3_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_19" name="collision_hand_left_index_4_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_19" name="collision_hand_left_index_5_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_19" name="collision_hand_left_index_6_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_19" name="collision_hand_left_index_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_3" geom2="left_object_2" name="collision_hand_left_index_3_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_4" geom2="left_object_2" name="collision_hand_left_index_4_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -781,83 +1307,380 @@
     <pair geom1="collision_hand_left_index_5" geom2="left_object_7" name="collision_hand_left_index_5_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_6" geom2="left_object_7" name="collision_hand_left_index_6_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_8" name="collision_hand_left_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_8" name="collision_hand_left_index_3_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_8" name="collision_hand_left_index_4_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_8" name="collision_hand_left_index_5_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_8" name="collision_hand_left_index_6_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_9" name="collision_hand_left_index_2_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_9" name="collision_hand_left_index_3_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_9" name="collision_hand_left_index_4_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_9" name="collision_hand_left_index_5_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_9" name="collision_hand_left_index_6_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_9" name="collision_hand_left_index_1_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_10" name="collision_hand_left_index_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_11" name="collision_hand_left_index_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_12" name="collision_hand_left_index_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_13" name="collision_hand_left_index_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_14" name="collision_hand_left_index_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_15" name="collision_hand_left_index_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_16" name="collision_hand_left_index_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_17" name="collision_hand_left_index_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_18" name="collision_hand_left_index_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_19" name="collision_hand_left_index_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_9" name="collision_hand_left_index_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_10" name="collision_hand_left_middle_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_11" name="collision_hand_left_middle_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_12" name="collision_hand_left_middle_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_13" name="collision_hand_left_middle_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_14" name="collision_hand_left_middle_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_15" name="collision_hand_left_middle_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_16" name="collision_hand_left_middle_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_17" name="collision_hand_left_middle_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_18" name="collision_hand_left_middle_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_19" name="collision_hand_left_middle_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_9" name="collision_hand_left_middle_1_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_10" name="collision_hand_left_middle_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_11" name="collision_hand_left_middle_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_12" name="collision_hand_left_middle_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_13" name="collision_hand_left_middle_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_14" name="collision_hand_left_middle_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_15" name="collision_hand_left_middle_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_16" name="collision_hand_left_middle_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_17" name="collision_hand_left_middle_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_18" name="collision_hand_left_middle_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_19" name="collision_hand_left_middle_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_9" name="collision_hand_left_middle_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_10" name="collision_hand_left_ring_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_11" name="collision_hand_left_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_12" name="collision_hand_left_ring_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_13" name="collision_hand_left_ring_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_14" name="collision_hand_left_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_15" name="collision_hand_left_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_16" name="collision_hand_left_ring_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_17" name="collision_hand_left_ring_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_18" name="collision_hand_left_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_19" name="collision_hand_left_ring_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_9" name="collision_hand_left_ring_1_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_10" name="collision_hand_left_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_11" name="collision_hand_left_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_12" name="collision_hand_left_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_13" name="collision_hand_left_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_14" name="collision_hand_left_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_15" name="collision_hand_left_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_16" name="collision_hand_left_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_17" name="collision_hand_left_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_18" name="collision_hand_left_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_19" name="collision_hand_left_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_9" name="collision_hand_left_ring_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_10" name="collision_hand_left_pinky_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_11" name="collision_hand_left_pinky_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_12" name="collision_hand_left_pinky_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_13" name="collision_hand_left_pinky_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_14" name="collision_hand_left_pinky_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_15" name="collision_hand_left_pinky_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_16" name="collision_hand_left_pinky_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_17" name="collision_hand_left_pinky_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_18" name="collision_hand_left_pinky_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_19" name="collision_hand_left_pinky_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_9" name="collision_hand_left_pinky_1_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_10" name="collision_hand_left_pinky_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_11" name="collision_hand_left_pinky_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_12" name="collision_hand_left_pinky_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_13" name="collision_hand_left_pinky_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_14" name="collision_hand_left_pinky_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_15" name="collision_hand_left_pinky_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_16" name="collision_hand_left_pinky_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_17" name="collision_hand_left_pinky_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_18" name="collision_hand_left_pinky_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_19" name="collision_hand_left_pinky_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_9" name="collision_hand_left_pinky_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_10" name="right_object_0_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_11" name="right_object_0_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_12" name="right_object_0_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_13" name="right_object_0_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_14" name="right_object_0_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_15" name="right_object_0_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_16" name="right_object_0_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_17" name="right_object_0_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_18" name="right_object_0_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_19" name="right_object_0_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_9" name="right_object_0_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_10" name="right_object_1_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_11" name="right_object_1_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_12" name="right_object_1_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_13" name="right_object_1_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_14" name="right_object_1_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_15" name="right_object_1_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_16" name="right_object_1_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_17" name="right_object_1_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_18" name="right_object_1_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_19" name="right_object_1_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_9" name="right_object_1_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_10" name="right_object_2_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_11" name="right_object_2_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_12" name="right_object_2_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_13" name="right_object_2_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_14" name="right_object_2_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_15" name="right_object_2_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_16" name="right_object_2_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_17" name="right_object_2_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_18" name="right_object_2_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_19" name="right_object_2_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_9" name="right_object_2_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_10" name="right_object_3_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_11" name="right_object_3_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_12" name="right_object_3_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_13" name="right_object_3_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_14" name="right_object_3_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_15" name="right_object_3_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_16" name="right_object_3_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_17" name="right_object_3_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_18" name="right_object_3_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_19" name="right_object_3_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_9" name="right_object_3_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_10" name="right_object_4_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_11" name="right_object_4_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_12" name="right_object_4_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_13" name="right_object_4_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_14" name="right_object_4_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_15" name="right_object_4_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_16" name="right_object_4_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_17" name="right_object_4_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_18" name="right_object_4_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_19" name="right_object_4_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_9" name="right_object_4_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_10" name="right_object_5_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_11" name="right_object_5_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_12" name="right_object_5_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_13" name="right_object_5_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_14" name="right_object_5_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_15" name="right_object_5_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_16" name="right_object_5_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_17" name="right_object_5_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_18" name="right_object_5_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_19" name="right_object_5_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_9" name="right_object_5_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_10" name="right_object_6_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_11" name="right_object_6_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_12" name="right_object_6_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_13" name="right_object_6_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_14" name="right_object_6_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_15" name="right_object_6_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_16" name="right_object_6_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_17" name="right_object_6_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_18" name="right_object_6_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_19" name="right_object_6_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_9" name="right_object_6_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_10" name="right_object_7_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_11" name="right_object_7_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_12" name="right_object_7_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_13" name="right_object_7_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_14" name="right_object_7_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_15" name="right_object_7_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_16" name="right_object_7_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_17" name="right_object_7_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_18" name="right_object_7_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_19" name="right_object_7_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_9" name="right_object_7_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
@@ -884,12 +1707,12 @@
   </equality>
 
   <actuator>
-    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
     <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
@@ -900,12 +1723,12 @@
     <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
     <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
     <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
-    <general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
+    <general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
+    <general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
     <general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
     <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
     <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
diff --git a/processed/oakink/allegro/bimanual/complete_data.csv b/processed/oakink/allegro/bimanual/complete_data.csv
index 9490f97d9ef1295368f201027a3723beb5312816..988b03c1d2be071129d542ad7955706d93ec0b11 100644
--- a/processed/oakink/allegro/bimanual/complete_data.csv
+++ b/processed/oakink/allegro/bimanual/complete_data.csv
@@ -1,8 +1,36 @@
-dataset,robot_type,hand_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
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diff --git a/processed/oakink/allegro/bimanual/lift_board/0/config.yaml b/processed/oakink/allegro/bimanual/lift_board/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4c4cb21fe8a4c676fd230cb02ea42786c6281b7c
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/lift_board/0/config.yaml
@@ -0,0 +1,90 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: lift_board
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/lift_board/0/../scene.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/lift_board/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.8
+knot_dt: 0.4
+max_sim_steps: 472
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 1
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.1
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+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: mujoco-rerun
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 27
+- 45
+- 3
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+horizon_steps: 80
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+nq_obj: 14
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+npair: 544
+beta_traj: 0.930572040929699
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/lift_board/0
diff --git a/processed/oakink/allegro/bimanual/lift_board/0/trajectory_ikrollout.npz b/processed/oakink/allegro/bimanual/lift_board/0/trajectory_ikrollout.npz
index 5233c6ec1cb66bc543e3d968497c7deef738e041..8ba8209fb78da52c6745cee5c4d9969e4bc93ae7 100644
--- a/processed/oakink/allegro/bimanual/lift_board/0/trajectory_ikrollout.npz
+++ b/processed/oakink/allegro/bimanual/lift_board/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/allegro/bimanual/lift_board/0/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/lift_board/0/trajectory_kinematic.npz
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--- a/processed/oakink/allegro/bimanual/lift_board/0/trajectory_kinematic.npz
+++ b/processed/oakink/allegro/bimanual/lift_board/0/trajectory_kinematic.npz
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diff --git a/processed/oakink/allegro/bimanual/lift_board/0/trajectory_mjwp.npz b/processed/oakink/allegro/bimanual/lift_board/0/trajectory_mjwp.npz
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diff --git a/processed/oakink/allegro/bimanual/lift_board/0/visualization_ik.mp4 b/processed/oakink/allegro/bimanual/lift_board/0/visualization_ik.mp4
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index 5d02aa0a7d8109534dccb592693cf704010be279..52cdfc4ed79a1efa9434d08880505d21f5025842 100644
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@@ -481,9 +481,9 @@
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -506,9 +506,9 @@
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
                 <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
diff --git a/processed/oakink/allegro/bimanual/lift_board/scene_eq.xml b/processed/oakink/allegro/bimanual/lift_board/scene_eq.xml
index 488b8f0029caffe57a1b19246654b0661c0c1113..933e9a5ba08d0444ee0d4d5f572c9ebd1a8bf4b4 100644
--- a/processed/oakink/allegro/bimanual/lift_board/scene_eq.xml
+++ b/processed/oakink/allegro/bimanual/lift_board/scene_eq.xml
@@ -13,7 +13,7 @@
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
       <joint armature="1"/>
@@ -121,7 +121,7 @@
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
       <joint armature="1"/>
@@ -231,8 +231,8 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -319,9 +319,9 @@
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -344,9 +344,9 @@
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -369,9 +369,9 @@
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -394,9 +394,9 @@
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
                 <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -431,9 +431,9 @@
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -456,9 +456,9 @@
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -481,9 +481,9 @@
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -506,9 +506,9 @@
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
                 <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/config.yaml b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..64adc348030439de2406bfc6f0633bdf93960365
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/config.yaml
@@ -0,0 +1,90 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: pick_spoon_bowl
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
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+horizon: 2.0
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+max_sim_steps: 3480
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
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+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 27
+- 41
+- 3
+- 6
+- 9
+- 12
+- 16
+- 19
+- 22
+- 25
+horizon_steps: 200
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+ctrl_steps: 40
+nq_obj: 14
+nq: 58
+nv: 56
+nu: 44
+npair: 724
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/pick_spoon_bowl/0
diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz
index 6101d14ddccaa803d2128a23d51d651b38809395..a63c59621adbb14152314ca15ec547ab47b81133 100644
--- a/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz
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diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
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+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
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diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/visualization_ik.mp4 b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/visualization_ik.mp4
new file mode 100644
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diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/visualization_mjwp.mp4 b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/visualization_mjwp.mp4
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diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/2/config.yaml b/processed/oakink/allegro/bimanual/pick_spoon_bowl/2/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..402f41aaafb07999648c8afaf8c25f23d8903367
--- /dev/null
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@@ -0,0 +1,90 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: pick_spoon_bowl
+seed: 2
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 2
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/pick_spoon_bowl/2/../scene.xml
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+- -0.005
+- 0.005
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+- 0.005
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+num_samples: 1024
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diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/2/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/pick_spoon_bowl/2/trajectory_kinematic.npz
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--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/2/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/2/trajectory_mjwp.npz b/processed/oakink/allegro/bimanual/pick_spoon_bowl/2/trajectory_mjwp.npz
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--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/2/trajectory_mjwp.npz
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+version https://git-lfs.github.com/spec/v1
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/3/config.yaml b/processed/oakink/allegro/bimanual/pick_spoon_bowl/3/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..97fd992a03813cdd6db00545a4101c746b9514a1
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/3/config.yaml
@@ -0,0 +1,90 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: pick_spoon_bowl
+seed: 3
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 3
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/pick_spoon_bowl/3/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/pick_spoon_bowl/3/trajectory_kinematic.npz
+simulator: mjwp
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+max_sim_steps: 3480
+nconmax_per_env: 100
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
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+- -0.005
+- 0.005
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+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+num_samples: 1024
+temperature: 1.0
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+improvement_threshold: 0.01
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+num_trace_uniform_samples: 4
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+- 27
+- 41
+- 3
+- 6
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+- 16
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+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/pick_spoon_bowl/3
diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/3/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/pick_spoon_bowl/3/trajectory_kinematic.npz
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--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/3/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/3/trajectory_mjwp.npz b/processed/oakink/allegro/bimanual/pick_spoon_bowl/3/trajectory_mjwp.npz
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+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/4/config.yaml b/processed/oakink/allegro/bimanual/pick_spoon_bowl/4/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2c506f897cec8c7cf7881fe56e361941c5c61870
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/4/config.yaml
@@ -0,0 +1,90 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: pick_spoon_bowl
+seed: 4
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/pick_spoon_bowl/4/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/pick_spoon_bowl/4/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
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+max_sim_steps: 3480
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
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+base_rot_threshold: 0.4
+use_torch_compile: true
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+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
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+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
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+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: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 27
+- 41
+- 3
+- 6
+- 9
+- 12
+- 16
+- 19
+- 22
+- 25
+horizon_steps: 200
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+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 58
+nv: 56
+nu: 44
+npair: 724
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/pick_spoon_bowl/4
diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/4/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/pick_spoon_bowl/4/trajectory_kinematic.npz
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index 0000000000000000000000000000000000000000..6e61b6eb3ba48eb44d872d8a7c75944ca66788a6
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3287660
diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/4/trajectory_mjwp.npz b/processed/oakink/allegro/bimanual/pick_spoon_bowl/4/trajectory_mjwp.npz
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--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4667734
diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/4/visualization_mjwp.mp4 b/processed/oakink/allegro/bimanual/pick_spoon_bowl/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f77369f9d4bdda8a0f2aca12fdc7c55a01c0a8e
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 5508396
diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/scene.xml b/processed/oakink/allegro/bimanual/pick_spoon_bowl/scene.xml
index 2352e2e0149bceef93455066a19e3047a8e1f857..4ebd2a1b7b2a38a9d1a7cd251ea63650043f8772 100644
--- a/processed/oakink/allegro/bimanual/pick_spoon_bowl/scene.xml
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/scene.xml
@@ -1,424 +1,406 @@
 <mujoco model="bimanual">
-  <compiler angle="radian" meshdir="../../../assets/" />
+  <compiler angle="radian" meshdir="../../../assets/"/>
 
   <option timestep="0.01" iterations="10">
-    <flag eulerdamp="disable" />
+    <flag eulerdamp="disable"/>
   </option>
 
   <visual>
-    <global azimuth="140" elevation="-20" />
-    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9" />
-    <rgba haze="0.15 0.25 0.35 1" />
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
   </visual>
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1" />
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
-      <joint armature="1" />
-      <geom density="800" />
-      <general biastype="affine" gainprm="300" biasprm="0 -300 1" />
+      <joint armature="1"/>
+      <geom density="800"/>
+      <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
       <default class="right_visual">
-        <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black" />
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
         <default class="right_palm_visual">
-          <geom mesh="right_base_link" />
+          <geom mesh="right_base_link"/>
         </default>
         <default class="right_base_visual">
-          <geom mesh="right_link_0.0" />
+          <geom mesh="right_link_0.0"/>
         </default>
         <default class="right_proximal_visual">
-          <geom mesh="right_link_1.0" />
+          <geom mesh="right_link_1.0"/>
         </default>
         <default class="right_medial_visual">
-          <geom mesh="right_link_2.0" />
+          <geom mesh="right_link_2.0"/>
         </default>
         <default class="right_distal_visual">
-          <geom mesh="right_link_3.0" />
+          <geom mesh="right_link_3.0"/>
         </default>
         <default class="right_fingertip_visual">
-          <geom material="right_white" mesh="right_link_3.0_tip" />
+          <geom material="right_white" mesh="right_link_3.0_tip"/>
         </default>
         <default class="right_thumbtip_visual">
-          <geom material="right_white" mesh="right_link_15.0_tip" />
+          <geom material="right_white" mesh="right_link_15.0_tip"/>
         </default>
       </default>
       <default class="right_collision">
-        <geom type="box" contype="0" conaffinity="0" condim="1" group="3" />
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
         <default class="right_palm_collision">
-          <geom size="0.0204 0.0565 0.0475" />
+          <geom size="0.0204 0.0565 0.0475"/>
         </default>
         <default class="right_base_collision">
-          <geom size="0.0098 0.01375 0.0082" />
+          <geom size="0.0098 0.01375 0.0082"/>
           <default class="right_thumb_base_collision">
-            <geom size="0.0179 0.017 0.02275" />
+            <geom size="0.0179 0.017 0.02275"/>
           </default>
         </default>
         <default class="right_proximal_collision">
-          <geom size="0.0098 0.01375 0.027" />
+          <geom size="0.0098 0.01375 0.027"/>
           <default class="right_thumb_proximal_collision">
-            <geom size="0.0098 0.01375 0.00885" />
+            <geom size="0.0098 0.01375 0.00885"/>
           </default>
         </default>
         <default class="right_medial_collision">
-          <geom size="0.0098 0.01375 0.0192" />
+          <geom size="0.0098 0.01375 0.0192"/>
           <default class="right_thumb_medial_collision">
-            <geom size="0.0098 0.01375 0.0257" />
+            <geom size="0.0098 0.01375 0.0257"/>
           </default>
         </default>
         <default class="right_distal_collision">
-          <geom size="0.0098 0.01375 0.008" />
+          <geom size="0.0098 0.01375 0.008"/>
           <default class="right_thumb_distal_collision">
-            <geom size="0.0098 0.01375 0.0157" />
+            <geom size="0.0098 0.01375 0.0157"/>
           </default>
         </default>
         <default class="right_fingertip_collision">
-          <geom size="0.012 0.01 0" type="capsule" />
+          <geom size="0.012 0.01 0" type="capsule"/>
           <default class="right_thumbtip_collision">
-            <geom size="0.012 0.008 0" />
+            <geom size="0.012 0.008 0"/>
           </default>
         </default>
       </default>
       <default class="right_base_slide">
-        <joint type="slide" range="-3 3" />
-        <general ctrlrange="-3 3" />
+        <joint type="slide" range="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base_hinge">
-        <joint range="-6.28 6.28" />
-        <general ctrlrange="-6.28 6.28" />
+        <joint range="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base">
-        <joint range="-0.47 0.47" />
-        <general ctrlrange="-0.47 0.47" />
+        <joint range="-0.47 0.47"/>
+        <general ctrlrange="-0.47 0.47"/>
       </default>
       <default class="right_proximal">
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-        <general ctrlrange="0.196 1.61" />
+        <joint range="0.196 1.61"/>
+        <general ctrlrange="0.196 1.61"/>
       </default>
       <default class="right_medial">
-        <joint range="0.174 1.709" />
-        <general ctrlrange="0.174 1.709" />
+        <joint range="0.174 1.709"/>
+        <general ctrlrange="0.174 1.709"/>
       </default>
       <default class="right_distal">
-        <joint range="0.227 1.618" />
-        <general ctrlrange="0.227 1.618" />
+        <joint range="0.227 1.618"/>
+        <general ctrlrange="0.227 1.618"/>
       </default>
       <default class="right_thumb_base">
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-        <general ctrlrange="0.263 1.396" />
+        <joint range="0.263 1.396"/>
+        <general ctrlrange="0.263 1.396"/>
       </default>
       <default class="right_thumb_proximal">
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-        <general ctrlrange="0.105 1.163" />
+        <joint range="0.105 1.163"/>
+        <general ctrlrange="0.105 1.163"/>
       </default>
       <default class="right_thumb_medial">
-        <joint range="0.189 1.644" />
-        <general ctrlrange="0.189 1.644" />
+        <joint range="0.189 1.644"/>
+        <general ctrlrange="0.189 1.644"/>
       </default>
       <default class="right_thumb_distal">
-        <joint range="0.162 1.719" />
-        <general ctrlrange="0.162 1.719" />
+        <joint range="0.162 1.719"/>
+        <general ctrlrange="0.162 1.719"/>
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1" />
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
-      <joint armature="1" />
-      <geom density="800" />
-      <general biastype="affine" gainprm="300" biasprm="0 -300 1" />
+      <joint armature="1"/>
+      <geom density="800"/>
+      <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
       <default class="left_visual">
-        <geom type="mesh" contype="0" conaffinity="0" group="2" material="left_black" />
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="left_black"/>
         <default class="left_palm_visual">
-          <geom mesh="left_base_link" />
+          <geom mesh="left_base_link"/>
         </default>
         <default class="left_base_visual">
-          <geom mesh="left_link_0.0" />
+          <geom mesh="left_link_0.0"/>
         </default>
         <default class="left_proximal_visual">
-          <geom mesh="left_link_1.0" />
+          <geom mesh="left_link_1.0"/>
         </default>
         <default class="left_medial_visual">
-          <geom mesh="left_link_2.0" />
+          <geom mesh="left_link_2.0"/>
         </default>
         <default class="left_distal_visual">
-          <geom mesh="left_link_3.0" />
+          <geom mesh="left_link_3.0"/>
         </default>
         <default class="left_fingertip_visual">
-          <geom material="left_white" mesh="left_link_3.0_tip" />
+          <geom material="left_white" mesh="left_link_3.0_tip"/>
         </default>
         <default class="left_thumbtip_visual">
-          <geom material="left_white" mesh="left_link_15.0_tip" />
+          <geom material="left_white" mesh="left_link_15.0_tip"/>
         </default>
       </default>
       <default class="left_collision">
-        <geom type="box" contype="0" conaffinity="0" condim="1" group="3" />
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
         <default class="left_palm_collision">
-          <geom size="0.0204 0.0565 0.0475" />
+          <geom size="0.0204 0.0565 0.0475"/>
         </default>
         <default class="left_base_collision">
-          <geom size="0.0098 0.01375 0.0082" />
+          <geom size="0.0098 0.01375 0.0082"/>
           <default class="left_thumb_base_collision">
-            <geom size="0.0179 0.017 0.02275" />
+            <geom size="0.0179 0.017 0.02275"/>
           </default>
         </default>
         <default class="left_proximal_collision">
-          <geom size="0.0098 0.01375 0.027" />
+          <geom size="0.0098 0.01375 0.027"/>
           <default class="left_thumb_proximal_collision">
-            <geom size="0.0098 0.01375 0.00885" />
+            <geom size="0.0098 0.01375 0.00885"/>
           </default>
         </default>
         <default class="left_medial_collision">
-          <geom size="0.0098 0.01375 0.0192" />
+          <geom size="0.0098 0.01375 0.0192"/>
           <default class="left_thumb_medial_collision">
-            <geom size="0.0098 0.01375 0.0257" />
+            <geom size="0.0098 0.01375 0.0257"/>
           </default>
         </default>
         <default class="left_distal_collision">
-          <geom size="0.0098 0.01375 0.008" />
+          <geom size="0.0098 0.01375 0.008"/>
           <default class="left_thumb_distal_collision">
-            <geom size="0.0098 0.01375 0.0157" />
+            <geom size="0.0098 0.01375 0.0157"/>
           </default>
         </default>
         <default class="left_fingertip_collision">
-          <geom size="0.012 0.01 0" type="capsule" />
+          <geom size="0.012 0.01 0" type="capsule"/>
           <default class="left_thumbtip_collision">
-            <geom size="0.012 0.008 0" />
+            <geom size="0.012 0.008 0"/>
           </default>
         </default>
       </default>
       <default class="left_base_slide">
-        <joint type="slide" range="-3 3" />
-        <general ctrlrange="-3 3" />
+        <joint type="slide" range="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base_hinge">
-        <joint range="-6.28 6.28" />
-        <general ctrlrange="-6.28 6.28" />
+        <joint range="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base">
-        <joint range="-0.47 0.47" />
-        <general ctrlrange="-0.47 0.47" />
+        <joint range="-0.47 0.47"/>
+        <general ctrlrange="-0.47 0.47"/>
       </default>
       <default class="left_proximal">
-        <joint range="0.196 1.61" />
-        <general ctrlrange="0.196 1.61" />
+        <joint range="0.196 1.61"/>
+        <general ctrlrange="0.196 1.61"/>
       </default>
       <default class="left_medial">
-        <joint range="0.174 1.709" />
-        <general ctrlrange="0.174 1.709" />
+        <joint range="0.174 1.709"/>
+        <general ctrlrange="0.174 1.709"/>
       </default>
       <default class="left_distal">
-        <joint range="0.227 1.618" />
-        <general ctrlrange="0.227 1.618" />
+        <joint range="0.227 1.618"/>
+        <general ctrlrange="0.227 1.618"/>
       </default>
       <default class="left_thumb_base">
-        <joint range="0.263 1.396" />
-        <general ctrlrange="0.263 1.396" />
+        <joint range="0.263 1.396"/>
+        <general ctrlrange="0.263 1.396"/>
       </default>
       <default class="left_thumb_proximal">
-        <joint range="0.105 1.163" />
-        <general ctrlrange="0.105 1.163" />
+        <joint range="0.105 1.163"/>
+        <general ctrlrange="0.105 1.163"/>
       </default>
       <default class="left_thumb_medial">
-        <joint range="0.189 1.644" />
-        <general ctrlrange="0.189 1.644" />
+        <joint range="0.189 1.644"/>
+        <general ctrlrange="0.189 1.644"/>
       </default>
       <default class="left_thumb_distal">
-        <joint range="0.162 1.719" />
-        <general ctrlrange="0.162 1.719" />
+        <joint range="0.162 1.719"/>
+        <general ctrlrange="0.162 1.719"/>
       </default>
     </default>
   </default>
 
   <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
-      height="3072" />
-    <texture type="2d" name="right_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="300" />
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
-      height="3072" />
-    <texture type="2d" name="left_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="300" />
-    <texture type="cube" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0"
-      width="512" height="3072" />
-    <texture type="cube" 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_black" rgba="0.2 0.2 0.2 1" />
-    <material name="right_white" rgba="0.9 0.9 0.9 1" />
-    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"
-      reflectance="0.2" />
-    <material name="left_black" rgba="0.2 0.2 0.2 1" />
-    <material name="left_white" rgba="0.9 0.9 0.9 1" />
-    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5"
-      reflectance="0.2" />
-    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
-    <mesh name="right_base_link" file="robots/allegro/assets/base_link.stl" />
-    <mesh name="right_link_0.0" file="robots/allegro/assets/link_0.0.stl" />
-    <mesh name="right_link_1.0" file="robots/allegro/assets/link_1.0.stl" />
-    <mesh name="right_link_2.0" file="robots/allegro/assets/link_2.0.stl" />
-    <mesh name="right_link_3.0" file="robots/allegro/assets/link_3.0.stl" />
-    <mesh name="right_link_3.0_tip" file="robots/allegro/assets/link_3.0_tip.stl" />
-    <mesh name="right_link_12.0_right" file="robots/allegro/assets/link_12.0_right.stl" />
-    <mesh name="right_link_13.0" file="robots/allegro/assets/link_13.0.stl" />
-    <mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl" />
-    <mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl" />
-    <mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl" />
-    <mesh name="left_base_link" file="robots/allegro/assets/base_link_left.stl" />
-    <mesh name="left_link_0.0" file="robots/allegro/assets/link_0.0.stl" />
-    <mesh name="left_link_1.0" file="robots/allegro/assets/link_1.0.stl" />
-    <mesh name="left_link_2.0" file="robots/allegro/assets/link_2.0.stl" />
-    <mesh name="left_link_3.0" file="robots/allegro/assets/link_3.0.stl" />
-    <mesh name="left_link_3.0_tip" file="robots/allegro/assets/link_3.0_tip.stl" />
-    <mesh name="left_link_12.0_left" file="robots/allegro/assets/link_12.0_left.stl" />
-    <mesh name="left_link_13.0" file="robots/allegro/assets/link_13.0.stl" />
-    <mesh name="left_link_14.0" file="robots/allegro/assets/link_14.0.stl" />
-    <mesh name="left_link_15.0" file="robots/allegro/assets/link_15.0.stl" />
-    <mesh name="left_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl" />
-    <!-- <mesh name="right_0" file="objects/O02@0030@00002/convex/0.obj" /> -->
-    <mesh name="right_0" file="objects/O02@0030@00002/visual.obj" />
-    <mesh name="right_1" file="objects/O02@0030@00002/convex/1.obj" />
-    <mesh name="right_2" file="objects/O02@0030@00002/convex/2.obj" />
-    <mesh name="left_0" file="objects/C12001/convex/0.obj" />
-    <mesh name="left_1" file="objects/C12001/convex/1.obj" />
-    <mesh name="left_2" file="objects/C12001/convex/2.obj" />
-    <mesh name="left_3" file="objects/C12001/convex/3.obj" />
-    <mesh name="left_4" file="objects/C12001/convex/4.obj" />
-    <mesh name="left_5" file="objects/C12001/convex/5.obj" />
-    <mesh name="left_6" file="objects/C12001/convex/6.obj" />
-    <mesh name="left_7" file="objects/C12001/convex/7.obj" />
-    <mesh name="right_visual" file="objects/O02@0030@00002/visual.obj" />
-    <mesh name="left_visual" file="objects/C12001/visual.obj" />
+    <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" markrgb="1 1 1" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_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="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_black" rgba="0.2 0.2 0.2 1"/>
+    <material name="right_white" rgba="0.9 0.9 0.9 1"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_black" rgba="0.2 0.2 0.2 1"/>
+    <material name="left_white" rgba="0.9 0.9 0.9 1"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_base_link" file="robots/allegro/assets/base_link.stl"/>
+    <mesh name="right_link_0.0" file="robots/allegro/assets/link_0.0.stl"/>
+    <mesh name="right_link_1.0" file="robots/allegro/assets/link_1.0.stl"/>
+    <mesh name="right_link_2.0" file="robots/allegro/assets/link_2.0.stl"/>
+    <mesh name="right_link_3.0" file="robots/allegro/assets/link_3.0.stl"/>
+    <mesh name="right_link_3.0_tip" file="robots/allegro/assets/link_3.0_tip.stl"/>
+    <mesh name="right_link_12.0_right" file="robots/allegro/assets/link_12.0_right.stl"/>
+    <mesh name="right_link_13.0" file="robots/allegro/assets/link_13.0.stl"/>
+    <mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
+    <mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
+    <mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
+    <mesh name="left_base_link" file="robots/allegro/assets/base_link_left.stl"/>
+    <mesh name="left_link_0.0" file="robots/allegro/assets/link_0.0.stl"/>
+    <mesh name="left_link_1.0" file="robots/allegro/assets/link_1.0.stl"/>
+    <mesh name="left_link_2.0" file="robots/allegro/assets/link_2.0.stl"/>
+    <mesh name="left_link_3.0" file="robots/allegro/assets/link_3.0.stl"/>
+    <mesh name="left_link_3.0_tip" file="robots/allegro/assets/link_3.0_tip.stl"/>
+    <mesh name="left_link_12.0_left" file="robots/allegro/assets/link_12.0_left.stl"/>
+    <mesh name="left_link_13.0" file="robots/allegro/assets/link_13.0.stl"/>
+    <mesh name="left_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
+    <mesh name="left_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
+    <mesh name="left_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
+    <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"/>
+    <mesh name="left_0" file="objects/C12001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/C12001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/C12001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/C12001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/C12001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/C12001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/C12001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/C12001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/C12001/convex/8.obj"/>
+    <mesh name="right_visual" file="objects/O02@0030@00002/visual.obj"/>
+    <mesh name="left_visual" file="objects/C12001/visual.obj"/>
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane" />
-    <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 3.5" dir="0 0 -1" />
-    <light pos="0 0 3.5" dir="0 0 -1" />
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <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 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
     <body name="right_palm" childclass="allegro_right" quat="0 0 0.707107 -0.707107" gravcomp="1">
-      <joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0" />
-      <joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0" />
-      <joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1" />
-      <joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0" />
-      <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0" />
-      <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1" />
-      <geom class="right_palm_visual" mesh="right_base_link" />
-      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475"
-        mass="0" />
-      <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
-      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0"/>
+      <joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0"/>
+      <joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1"/>
+      <joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0"/>
+      <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
+      <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
+      <geom class="right_palm_visual" mesh="right_base_link"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1" />
-        <geom class="right_base_visual" mesh="right_link_0.0" />
+        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
         <body name="right_ff_proximal" pos="0 0 0.0164">
-          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0" />
-          <geom class="right_proximal_visual" mesh="right_link_1.0" />
-          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027"
-            mass="0" />
+          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_ff_medial" pos="0 0 0.054">
-            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0" />
-            <geom class="right_medial_visual" mesh="right_link_2.0" />
-            <geom name="collision_hand_right_index_1" class="right_medial_collision"
-              pos="0 0 0.0192" mass="0" />
+            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_ff_distal" pos="0 0 0.0384">
-              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0" />
-              <geom class="right_distal_visual" mesh="right_link_3.0" />
+              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
               <body name="right_ff_tip">
-                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip" />
-                <geom name="collision_hand_right_index_0" class="right_fingertip_collision"
-                  pos="0 0 0.019" mass="0" />
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019" />
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019" />
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019" />
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_mf_base" pos="0 0 0.0007">
-        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1" />
-        <geom class="right_base_visual" mesh="right_link_0.0" />
+        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
         <body name="right_mf_proximal" pos="0 0 0.0164">
-          <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0" />
-          <geom class="right_proximal_visual" mesh="right_link_1.0" />
-          <geom name="collision_hand_right_middle_2" class="right_proximal_collision"
-            pos="0 0 0.027" mass="0" />
+          <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_mf_medial" pos="0 0 0.054">
-            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0" />
-            <geom class="right_medial_visual" mesh="right_link_2.0" />
-            <geom name="collision_hand_right_middle_1" class="right_medial_collision"
-              pos="0 0 0.0192" mass="0" />
+            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_mf_distal" pos="0 0 0.0384">
-              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0" />
-              <geom class="right_distal_visual" mesh="right_link_3.0" />
+              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
               <body name="right_mf_tip">
-                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip" />
-                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision"
-                  pos="0 0 0.019" mass="0" />
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019" />
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019" />
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019" />
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1" />
-        <geom class="right_base_visual" mesh="right_link_0.0" />
+        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
         <body name="right_rf_proximal" pos="0 0 0.0164">
-          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0" />
-          <geom class="right_proximal_visual" mesh="right_link_1.0" />
-          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027"
-            mass="0" />
+          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_rf_medial" pos="0 0 0.054">
-            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0" />
-            <geom class="right_medial_visual" mesh="right_link_2.0" />
-            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192"
-              mass="0" />
+            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_rf_distal" pos="0 0 0.0384">
-              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0" />
-              <geom class="right_distal_visual" mesh="right_link_3.0" />
+              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
               <body name="right_rf_tip">
-                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip" />
-                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision"
-                  pos="0 0 0.019" mass="0" />
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019" />
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019" />
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019" />
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
-      <body name="right_th_base" pos="-0.0182 0.019333 -0.045987"
-        quat="0.477714 -0.521334 -0.521334 -0.477714">
-        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0" />
-        <geom class="right_visual" mesh="right_link_12.0_right" />
+      <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
+        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
+        <geom class="right_visual" mesh="right_link_12.0_right"/>
         <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
-          <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0"
-            axis="0 0 1" />
-          <geom class="right_visual" mesh="right_link_13.0" />
+          <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <geom class="right_visual" mesh="right_link_13.0"/>
           <body name="right_th_medial" pos="0 0 0.0177">
-            <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0"
-              axis="0 1 0" />
-            <geom class="right_visual" mesh="right_link_14.0" />
-            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision"
-              pos="0 0 0.0257" mass="0" />
+            <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_visual" mesh="right_link_14.0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="right_th_distal" pos="0 0 0.0514">
-              <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0"
-                axis="0 1 0" />
-              <geom class="right_visual" mesh="right_link_15.0" />
-              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision"
-                pos="0 0 0.0157" mass="0" />
+              <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_visual" mesh="right_link_15.0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="right_th_tip">
-                <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip" />
-                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision"
-                  pos="0 0 0.035" mass="0" />
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035" />
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035" />
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035" />
+                <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -426,127 +408,111 @@
       </body>
     </body>
     <body name="left_palm" childclass="allegro_left" quat="0 0 0.707107 -0.707107" gravcomp="1">
-      <joint name="left_pos_x" class="left_base_slide" pos="0 0 0" axis="1 0 0" />
-      <joint name="left_pos_y" class="left_base_slide" pos="0 0 0" axis="0 1 0" />
-      <joint name="left_pos_z" class="left_base_slide" pos="0 0 0" axis="0 0 1" />
-      <joint name="left_rot_x" class="left_base_hinge" pos="0 0 0" axis="1 0 0" />
-      <joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0" />
-      <joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1" />
-      <geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link" />
-      <geom name="collision_hand_left_palm_0" class="left_palm_collision" pos="-0.0093 0 -0.0475"
-        mass="0" />
-      <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
-      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <joint name="left_pos_x" class="left_base_slide" pos="0 0 0" axis="1 0 0"/>
+      <joint name="left_pos_y" class="left_base_slide" pos="0 0 0" axis="0 1 0"/>
+      <joint name="left_pos_z" class="left_base_slide" pos="0 0 0" axis="0 0 1"/>
+      <joint name="left_rot_x" class="left_base_hinge" pos="0 0 0" axis="1 0 0"/>
+      <joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0"/>
+      <joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1"/>
+      <geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link"/>
+      <geom name="collision_hand_left_palm_0" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1" />
-        <geom class="left_base_visual" mesh="left_link_0.0" />
+        <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="left_base_visual" mesh="left_link_0.0"/>
         <body name="left_rf_proximal" pos="0 0 0.0164">
-          <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0" />
-          <geom class="left_proximal_visual" mesh="left_link_1.0" />
-          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" pos="0 0 0.027"
-            mass="0" />
+          <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="left_proximal_visual" mesh="left_link_1.0"/>
+          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_rf_medial" pos="0 0 0.054">
-            <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0" />
-            <geom class="left_medial_visual" mesh="left_link_2.0" />
-            <geom name="collision_hand_left_ring_1" class="left_medial_collision" pos="0 0 0.0192"
-              mass="0" />
+            <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="left_medial_visual" mesh="left_link_2.0"/>
+            <geom name="collision_hand_left_ring_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_rf_distal" pos="0 0 0.0384">
-              <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0" />
-              <geom class="left_distal_visual" mesh="left_link_3.0" />
+              <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="left_distal_visual" mesh="left_link_3.0"/>
               <body name="left_rf_tip">
-                <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip" />
-                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision"
-                  pos="0 0 0.019" mass="0" />
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019" />
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019" />
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019" />
+                <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
+                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_mf_base" pos="0 0 0.0007">
-        <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1" />
-        <geom class="left_base_visual" mesh="left_link_0.0" />
+        <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="left_base_visual" mesh="left_link_0.0"/>
         <body name="left_mf_proximal" pos="0 0 0.0164">
-          <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0" />
-          <geom class="left_proximal_visual" mesh="left_link_1.0" />
-          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" pos="0 0 0.027"
-            mass="0" />
+          <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="left_proximal_visual" mesh="left_link_1.0"/>
+          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_mf_medial" pos="0 0 0.054">
-            <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0" />
-            <geom class="left_medial_visual" mesh="left_link_2.0" />
-            <geom name="collision_hand_left_middle_1" class="left_medial_collision" pos="0 0 0.0192"
-              mass="0" />
+            <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="left_medial_visual" mesh="left_link_2.0"/>
+            <geom name="collision_hand_left_middle_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_mf_distal" pos="0 0 0.0384">
-              <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0" />
-              <geom class="left_distal_visual" mesh="left_link_3.0" />
+              <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="left_distal_visual" mesh="left_link_3.0"/>
               <body name="left_mf_tip">
-                <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip" />
-                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision"
-                  pos="0 0 0.019" mass="0" />
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019" />
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019" />
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019" />
+                <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
+                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1" />
-        <geom class="left_base_visual" mesh="left_link_0.0" />
+        <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="left_base_visual" mesh="left_link_0.0"/>
         <body name="left_ff_proximal" pos="0 0 0.0164">
-          <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0" />
-          <geom class="left_proximal_visual" mesh="left_link_1.0" />
-          <geom name="collision_hand_left_index_2" class="left_proximal_collision" pos="0 0 0.027"
-            mass="0" />
+          <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="left_proximal_visual" mesh="left_link_1.0"/>
+          <geom name="collision_hand_left_index_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_ff_medial" pos="0 0 0.054">
-            <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0" />
-            <geom class="left_medial_visual" mesh="left_link_2.0" />
-            <geom name="collision_hand_left_index_1" class="left_medial_collision" pos="0 0 0.0192"
-              mass="0" />
+            <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="left_medial_visual" mesh="left_link_2.0"/>
+            <geom name="collision_hand_left_index_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_ff_distal" pos="0 0 0.0384">
-              <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0" />
-              <geom class="left_distal_visual" mesh="left_link_3.0" />
+              <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="left_distal_visual" mesh="left_link_3.0"/>
               <body name="left_ff_tip">
-                <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip" />
-                <geom name="collision_hand_left_index_0" class="left_fingertip_collision"
-                  pos="0 0 0.019" mass="0" />
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019" />
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019" />
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019" />
+                <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
+                <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
-      <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987"
-        quat="0.477714 0.521334 -0.521334 0.477714">
-        <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0" />
-        <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left" />
+      <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
+        <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
+        <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
         <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
-          <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0"
-            axis="0 0 1" />
-          <geom class="left_visual" mesh="left_link_13.0" />
+          <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <geom class="left_visual" mesh="left_link_13.0"/>
           <body name="left_th_medial" pos="0 0 0.0177">
-            <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0" />
-            <geom class="left_visual" mesh="left_link_14.0" />
-            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision"
-              pos="0 0 0.0257" mass="0" />
+            <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="left_visual" mesh="left_link_14.0"/>
+            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="left_th_distal" pos="0 0 0.0514">
-              <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0"
-                axis="0 1 0" />
-              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision"
-                pos="0 0 0.0157" mass="0" />
-              <geom class="left_visual" mesh="left_link_15.0" />
+              <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <geom class="left_visual" mesh="left_link_15.0"/>
               <body name="left_th_tip">
-                <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip" />
-                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision"
-                  pos="0 0 0.035" mass="0" />
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035" />
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035" />
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035" />
+                <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
+                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -554,1183 +520,866 @@
       </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" contype="0" conaffinity="0" group="3" density="100"
-        rgba="0 1 0 1" mesh="right_0" />
-      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100"
-        rgba="0 1 0 1" mesh="right_1" />
-      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100"
-        rgba="0 1 0 1" mesh="right_2" />
-      <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box"
-        rgba="1 0 0 1" />
-      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1" />
-      <site name="track_object_right_thumb_tip" pos="-0.00682591 0.0121744 -0.0420295" size="0.01"
-        group="4" rgba="0 1 0 1" />
-      <site name="track_object_right_index_tip" pos="-0.00191084 -0.00259587 -0.0370777" size="0.01"
-        group="4" rgba="0 1 0 1" />
-      <site name="track_object_right_middle_tip" pos="0.00721628 -0.0105786 -0.0250953" size="0.01"
-        group="4" rgba="0 1 0 1" />
-      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1" />
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_10" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_10"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_9" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_9"/>
+      <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.00682591 0.0121744 -0.0420295" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.00191084 -0.00259587 -0.0370777" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0164644 -0.00853783 -0.0262709" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.00495252 -0.0202771 -0.0173211" size="0.01" 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" />
+      <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" />
+      <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" />
+      <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" />
+      <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" />
+      <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" />
+      <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" />
+      <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" />
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="left_object">
-      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001" />
-      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100"
-        rgba="0 1 0 1" mesh="left_0" />
-      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100"
-        rgba="0 1 0 1" mesh="left_1" />
-      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100"
-        rgba="0 1 0 1" mesh="left_2" />
-      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100"
-        rgba="0 1 0 1" mesh="left_3" />
-      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100"
-        rgba="0 1 0 1" mesh="left_4" />
-      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100"
-        rgba="0 1 0 1" mesh="left_5" />
-      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100"
-        rgba="0 1 0 1" mesh="left_6" />
-      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100"
-        rgba="0 1 0 1" mesh="left_7" />
-      <geom name="left_object_visual" type="mesh" contype="0" conaffinity="0" density="0"
-        rgba="1 1 1 1" mesh="left_visual" />
-      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1" />
-      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1" />
-      <site name="track_object_left_thumb_tip" pos="-0.052259 -0.0330764 0.0415308" size="0.01"
-        group="4" rgba="0 1 0 1" />
-      <site name="track_object_left_index_tip" pos="-0.0679741 -0.00481394 -0.00183686" size="0.01"
-        group="4" rgba="0 1 0 1" />
-      <site name="track_object_left_middle_tip" pos="-0.0552835 -0.0234353 -0.0234553" size="0.01"
-        group="4" rgba="0 1 0 1" />
-      <site name="track_object_left_ring_tip" pos="-0.0604843 -0.0324865 -0.0268512" size="0.01"
-        group="4" rgba="0 1 0 1" />
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_8"/>
+      <geom name="left_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.052259 -0.0330764 0.0415308" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.0679741 -0.00481394 -0.00183686" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="-0.0552835 -0.0234353 -0.0234553" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="-0.0633333 -0.0293595 -0.0291899" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
-      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_hand_left_thumb_tip" mocap="true">
-      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_index_tip" mocap="true">
-      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_hand_left_index_tip" mocap="true">
-      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_middle_tip" mocap="true">
-      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_hand_left_middle_tip" mocap="true">
-      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_ring_tip" mocap="true">
-      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_hand_left_ring_tip" mocap="true">
-      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+      <site name="ref_hand_left_ring_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" solref="0.008"
-    friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1
-    0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1
-    0.1 0 0"/> -->
-    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_1"
-      name="collision_hand_right_palm_0_collision_hand_right_index_1" solref="0.008"
-      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" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_1"
-      name="collision_hand_right_palm_0_collision_hand_right_middle_1" solref="0.008"
-      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" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_1"
-      name="collision_hand_right_palm_0_collision_hand_right_ring_1" solref="0.008"
-      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" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_1"
-      name="collision_hand_right_palm_0_collision_hand_right_thumb_1" solref="0.008"
-      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" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0"
-      name="collision_hand_right_palm_0_collision_hand_left_palm_0" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0"
-      name="collision_hand_right_palm_0_collision_hand_left_ring_0" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0"
-      name="collision_hand_right_palm_0_collision_hand_left_middle_0" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0"
-      name="collision_hand_right_palm_0_collision_hand_left_index_0" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0"
-      name="collision_hand_right_palm_0_collision_hand_left_thumb_0" solref="0.008"
-      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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0"
-      name="collision_hand_right_palm_0_left_object_0" solref="0.008" friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1"
-      name="collision_hand_right_palm_0_left_object_1" solref="0.008" friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2"
-      name="collision_hand_right_palm_0_left_object_2" solref="0.008" friction="1 1 0.1 0 0" />
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-      friction="1 1 0.1 0 0" />
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-    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4"
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-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5"
-      name="collision_hand_left_thumb_2_left_object_5" condim="4" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6"
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-    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7"
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-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_1" geom2="collision_hand_left_thumb_0"
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-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0"
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-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1"
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-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2"
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-    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0"
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-    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1"
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-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2"
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-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3"
-      name="collision_hand_left_thumb_1_left_object_3" condim="4" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4"
-      name="collision_hand_left_thumb_1_left_object_4" condim="4" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5"
-      name="collision_hand_left_thumb_1_left_object_5" condim="4" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6"
-      name="collision_hand_left_thumb_1_left_object_6" condim="4" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7"
-      name="collision_hand_left_thumb_1_left_object_7" condim="4" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0"
-      name="collision_hand_left_thumb_0_right_object_0" condim="4" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1"
-      name="collision_hand_left_thumb_0_right_object_1" condim="4" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2"
-      name="collision_hand_left_thumb_0_right_object_2" condim="4" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0"
-      name="collision_hand_left_thumb_0_left_object_0" condim="4" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1"
-      name="collision_hand_left_thumb_0_left_object_1" condim="4" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2"
-      name="collision_hand_left_thumb_0_left_object_2" condim="4" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3"
-      name="collision_hand_left_thumb_0_left_object_3" condim="4" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4"
-      name="collision_hand_left_thumb_0_left_object_4" condim="4" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5"
-      name="collision_hand_left_thumb_0_left_object_5" condim="4" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6"
-      name="collision_hand_left_thumb_0_left_object_6" condim="4" solref="0.008"
-      friction="1 1 0.1 0 0" />
-    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7"
-      name="collision_hand_left_thumb_0_left_object_7" condim="4" solref="0.008"
-      friction="1 1 0.1 0 0" />
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-    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
-    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7"
-      solref="0.008" friction="0.01 0.01 0.0001 0 0" />
+    <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" 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_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_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_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_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" 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_10" name="collision_hand_right_index_2_right_object_10" 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_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_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_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_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_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_8" name="collision_hand_right_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_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_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_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_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_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_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_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_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_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_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_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_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_10" name="collision_hand_left_ring_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_9" name="collision_hand_left_ring_2_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_8" name="collision_hand_left_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_10" name="collision_hand_left_middle_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_9" name="collision_hand_left_middle_2_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_4" name="collision_hand_left_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_0" name="right_object_10_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_1" name="right_object_10_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_2" name="right_object_10_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_3" name="right_object_10_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_4" name="right_object_10_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_5" name="right_object_10_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_6" name="right_object_10_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_7" name="right_object_10_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_8" name="right_object_10_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_0" name="right_object_9_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_1" name="right_object_9_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_2" name="right_object_9_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_3" name="right_object_9_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_4" name="right_object_9_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_5" name="right_object_9_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_6" name="right_object_9_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_7" name="right_object_9_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_8" name="right_object_9_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
-    <general name="right_pos_x" class="right_base_slide" joint="right_pos_x" />
-    <general name="right_pos_y" class="right_base_slide" joint="right_pos_y" />
-    <general name="right_pos_z" class="right_base_slide" joint="right_pos_z" />
-    <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x" />
-    <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y" />
-    <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z" />
-    <general name="right_ffa0" class="right_base" joint="right_index_base_joint" />
-    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint" />
-    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint" />
-    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint" />
-    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint" />
-    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint" />
-    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint" />
-    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint" />
-    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint" />
-    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint" />
-    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint" />
-    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint" />
-    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint" />
-    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint" />
-    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint" />
-    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint" />
-    <general name="left_pos_x" class="left_base_slide" joint="left_pos_x" />
-    <general name="left_pos_y" class="left_base_slide" joint="left_pos_y" />
-    <general name="left_pos_z" class="left_base_slide" joint="left_pos_z" />
-    <general name="left_rot_x" class="left_base_hinge" joint="left_rot_x" />
-    <general name="left_rot_y" class="left_base_hinge" joint="left_rot_y" />
-    <general name="left_rot_z" class="left_base_hinge" joint="left_rot_z" />
-    <general name="left_rfa0" class="left_base" joint="left_ring_base_joint" />
-    <general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint" />
-    <general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint" />
-    <general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint" />
-    <general name="left_mfa0" class="left_base" joint="left_middle_base_joint" />
-    <general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint" />
-    <general name="left_mfa2" class="left_medial" joint="left_middle_medial_joint" />
-    <general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint" />
-    <general name="left_ffa0" class="left_base" joint="left_index_base_joint" />
-    <general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint" />
-    <general name="left_ffa2" class="left_medial" joint="left_index_medial_joint" />
-    <general name="left_ffa3" class="left_distal" joint="left_index_distal_joint" />
-    <general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint" />
-    <general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint" />
-    <general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint" />
-    <general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint" />
+    <general name="right_pos_x" class="right_base_slide" joint="right_pos_x"/>
+    <general name="right_pos_y" class="right_base_slide" joint="right_pos_y"/>
+    <general name="right_pos_z" class="right_base_slide" joint="right_pos_z"/>
+    <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
+    <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
+    <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
+    <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
+    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
+    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
+    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
+    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
+    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
+    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
+    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
+    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
+    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
+    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
+    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
+    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
+    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
+    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
+    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
+    <general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
+    <general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
+    <general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
+    <general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
+    <general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
+    <general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
+    <general name="left_rfa0" class="left_base" joint="left_ring_base_joint"/>
+    <general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint"/>
+    <general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint"/>
+    <general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint"/>
+    <general name="left_mfa0" class="left_base" joint="left_middle_base_joint"/>
+    <general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint"/>
+    <general name="left_mfa2" class="left_medial" joint="left_middle_medial_joint"/>
+    <general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint"/>
+    <general name="left_ffa0" class="left_base" joint="left_index_base_joint"/>
+    <general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint"/>
+    <general name="left_ffa2" class="left_medial" joint="left_index_medial_joint"/>
+    <general name="left_ffa3" class="left_distal" joint="left_index_distal_joint"/>
+    <general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint"/>
+    <general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint"/>
+    <general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint"/>
+    <general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/scene_eq.xml b/processed/oakink/allegro/bimanual/pick_spoon_bowl/scene_eq.xml
index 1bfb6f558c7f3ffc262e0b524f682c4953706740..1c7ff38d2fb1be71e134fce0a17273e8ed54f261 100644
--- a/processed/oakink/allegro/bimanual/pick_spoon_bowl/scene_eq.xml
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/scene_eq.xml
@@ -13,7 +13,7 @@
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
       <joint armature="1"/>
@@ -81,11 +81,11 @@
       </default>
       <default class="right_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base">
         <joint range="-0.47 0.47"/>
@@ -121,7 +121,7 @@
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
       <joint armature="1"/>
@@ -189,11 +189,11 @@
       </default>
       <default class="left_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base">
         <joint range="-0.47 0.47"/>
@@ -231,8 +231,8 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -268,7 +268,15 @@
     <mesh name="left_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
     <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"/>
     <mesh name="left_0" file="objects/C12001/convex/0.obj"/>
     <mesh name="left_1" file="objects/C12001/convex/1.obj"/>
     <mesh name="left_2" file="objects/C12001/convex/2.obj"/>
@@ -277,6 +285,7 @@
     <mesh name="left_5" file="objects/C12001/convex/5.obj"/>
     <mesh name="left_6" file="objects/C12001/convex/6.obj"/>
     <mesh name="left_7" file="objects/C12001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/C12001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0030@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/C12001/visual.obj"/>
   </asset>
@@ -314,9 +323,9 @@
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -339,9 +348,9 @@
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -364,9 +373,9 @@
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -389,9 +398,9 @@
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
                 <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -426,9 +435,9 @@
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -451,9 +460,9 @@
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -476,9 +485,9 @@
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -501,9 +510,9 @@
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
                 <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -512,16 +521,24 @@
     </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" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_10" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_10"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_9" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_9"/>
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_thumb_tip" pos="-0.00682591 0.0121744 -0.0420295" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_index_tip" pos="-0.00191084 -0.00259587 -0.0370777" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.00721628 -0.0105786 -0.0250953" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0164644 -0.00853783 -0.0262709" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.00495252 -0.0202771 -0.0173211" size="0.01" 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"/>
@@ -549,21 +566,22 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_thumb_tip" pos="-0.052259 -0.0330764 0.0415308" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_index_tip" pos="-0.0679741 -0.00481394 -0.00183686" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_middle_tip" pos="-0.0552835 -0.0234353 -0.0234553" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="-0.0604843 -0.0324865 -0.0268512" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="-0.0633333 -0.0293595 -0.0291899" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -592,412 +610,730 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_1" name="collision_hand_right_palm_0_collision_hand_right_index_1" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_1" name="collision_hand_right_palm_0_collision_hand_right_middle_1" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_1" name="collision_hand_right_palm_0_collision_hand_right_ring_1" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_1" name="collision_hand_right_palm_0_collision_hand_right_thumb_1" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_right_index_0" name="collision_hand_right_index_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_right_middle_0" name="collision_hand_right_middle_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_right_ring_0" name="collision_hand_right_ring_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_right_thumb_0" name="collision_hand_right_thumb_0_collision_hand_right_index_1" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_1" name="collision_hand_right_index_0_collision_hand_right_middle_1" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_1" name="collision_hand_right_index_0_collision_hand_right_ring_1" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_thumb_1" name="collision_hand_right_index_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_index_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_0" name="collision_hand_right_index_0_collision_hand_left_index_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="left_object_0" name="collision_hand_right_middle_2_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="left_object_3" name="collision_hand_right_middle_2_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="left_object_4" name="collision_hand_right_middle_2_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_right_middle_0" name="collision_hand_right_middle_0_collision_hand_right_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_right_ring_0" name="collision_hand_right_ring_0_collision_hand_right_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_right_thumb_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_1" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
+    <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" 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_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_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_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_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" 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_10" name="collision_hand_right_index_2_right_object_10" 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"/>
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+    <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_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_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_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_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_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_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_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_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_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_8" name="collision_hand_right_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_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_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_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_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_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_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_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_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_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_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_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_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_10" name="collision_hand_left_ring_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_9" name="collision_hand_left_ring_2_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_8" name="collision_hand_left_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_10" name="collision_hand_left_middle_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_9" name="collision_hand_left_middle_2_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_0" name="right_object_10_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_1" name="right_object_10_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_2" name="right_object_10_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_3" name="right_object_10_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_4" name="right_object_10_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_5" name="right_object_10_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_6" name="right_object_10_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_7" name="right_object_10_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_8" name="right_object_10_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_0" name="right_object_9_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_1" name="right_object_9_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_2" name="right_object_9_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_3" name="right_object_9_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_4" name="right_object_9_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_5" name="right_object_9_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_6" name="right_object_9_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_7" name="right_object_9_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_8" name="right_object_9_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/task_info.json b/processed/oakink/allegro/bimanual/pick_spoon_bowl/task_info.json
index 3f1b264dbf6c9deb4a405578f4337e1a1b6d0baa..70d5cf27cffa6e1830af738b5fde04f668c36cbf 100644
--- a/processed/oakink/allegro/bimanual/pick_spoon_bowl/task_info.json
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/task_info.json
@@ -2,10 +2,11 @@
   "task": "pick_spoon_bowl",
   "dataset_name": "oakink",
   "robot_type": "allegro",
-  "hand_type": "bimanual",
+  "embodiment_type": "bimanual",
   "data_id": 0,
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0030@00002",
   "left_object_mesh_dir": "processed/oakink/assets/objects/C12001",
+  "ref_dt": 0.02,
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0030@00002/convex",
   "left_object_convex_dir": "processed/oakink/assets/objects/C12001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/allegro/bimanual/pour_tube/0/config.yaml b/processed/oakink/allegro/bimanual/pour_tube/0/config.yaml
new file mode 100644
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diff --git a/processed/oakink/allegro/bimanual/pour_tube/4/trajectory_mjwp.npz b/processed/oakink/allegro/bimanual/pour_tube/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3938b2c6d1bc91e367766bafdfbbcf6de4f68852
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pour_tube/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3468ef5c122601b000bff5a0ff9580db233a38e0ff1fd9fad5d24d65c78b85d9
+size 2203238
diff --git a/processed/oakink/allegro/bimanual/pour_tube/4/visualization_mjwp.mp4 b/processed/oakink/allegro/bimanual/pour_tube/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5bfd42fbb157baf879a1343dc6b50aed023cea8
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pour_tube/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1553b9cfb2fb9ddc872e2377b30f910d98a22810e15343582a4f9d2ac9943de3
+size 1929537
diff --git a/processed/oakink/allegro/bimanual/pour_tube/scene.xml b/processed/oakink/allegro/bimanual/pour_tube/scene.xml
index 3ae6137934d1313d0755b09901d9897caf280df9..fac27223614406cf32aab6f35d5eca2d39fc5ca0 100644
--- a/processed/oakink/allegro/bimanual/pour_tube/scene.xml
+++ b/processed/oakink/allegro/bimanual/pour_tube/scene.xml
@@ -13,7 +13,7 @@
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
       <joint armature="1"/>
@@ -81,11 +81,11 @@
       </default>
       <default class="right_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base">
         <joint range="-0.47 0.47"/>
@@ -121,7 +121,7 @@
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
       <joint armature="1"/>
@@ -189,11 +189,11 @@
       </default>
       <default class="left_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base">
         <joint range="-0.47 0.47"/>
@@ -231,12 +231,12 @@
   </default>
 
   <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" name="right_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="300"/>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" name="left_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="300"/>
-    <texture type="cube" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="cube" 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"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_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="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_black" rgba="0.2 0.2 0.2 1"/>
     <material name="right_white" rgba="0.9 0.9 0.9 1"/>
     <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
@@ -292,31 +292,29 @@
       <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="right_palm_visual" mesh="right_base_link"/>
-      <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
         <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_ff_proximal" pos="0 0 0.0164">
           <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_ff_medial" pos="0 0 0.054">
             <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_ff_distal" pos="0 0 0.0384">
               <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_index_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -325,25 +323,23 @@
       <body name="right_mf_base" pos="0 0 0.0007">
         <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_mf_proximal" pos="0 0 0.0164">
           <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_mf_medial" pos="0 0 0.054">
             <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_mf_distal" pos="0 0 0.0384">
               <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_middle_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -352,25 +348,23 @@
       <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
         <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_rf_proximal" pos="0 0 0.0164">
           <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_rf_medial" pos="0 0 0.054">
             <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_rf_distal" pos="0 0 0.0384">
               <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_ring_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -379,25 +373,23 @@
       <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
         <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
         <geom class="right_visual" mesh="right_link_12.0_right"/>
-        <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
           <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="right_visual" mesh="right_link_13.0"/>
-          <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="right_th_medial" pos="0 0 0.0177">
             <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_visual" mesh="right_link_14.0"/>
-            <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="right_th_distal" pos="0 0 0.0514">
               <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_visual" mesh="right_link_15.0"/>
-              <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
-                <geom name="right_thumb_collision" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -412,31 +404,29 @@
       <joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link"/>
-      <geom name="left_palm_collision" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_left_palm_0" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
         <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_rf_proximal" pos="0 0 0.0164">
           <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_rf_medial" pos="0 0 0.054">
             <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_ring_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_rf_distal" pos="0 0 0.0384">
               <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_ring_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -445,25 +435,23 @@
       <body name="left_mf_base" pos="0 0 0.0007">
         <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_mf_proximal" pos="0 0 0.0164">
           <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_mf_medial" pos="0 0 0.054">
             <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_middle_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_mf_distal" pos="0 0 0.0384">
               <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_middle_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -472,25 +460,23 @@
       <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
         <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_ff_proximal" pos="0 0 0.0164">
           <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_index_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_ff_medial" pos="0 0 0.054">
             <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_index_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_ff_distal" pos="0 0 0.0384">
               <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_index_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -499,25 +485,23 @@
       <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
         <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
         <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
-        <geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
           <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="left_visual" mesh="left_link_13.0"/>
-          <geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="left_th_medial" pos="0 0 0.0177">
             <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_visual" mesh="left_link_14.0"/>
-            <geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="left_th_distal" pos="0 0 0.0514">
               <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <geom class="left_visual" mesh="left_link_15.0"/>
-              <geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
-                <geom name="left_thumb_collision" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -526,21 +510,21 @@
     </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" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0203067 -0.0419832 -0.0142064" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0159233 0.029516 0.0106019" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0317155 0.0209083 -0.0104862" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0308593 0.0204301 -0.0260402" size="0.01" 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"/>
@@ -568,13 +552,13 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_0"/>
       <geom name="left_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.00669959 -0.0069639 -0.0235738" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0118917 0.00691844 -0.0243164" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0197026 0.00954464 -0.0491164" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
@@ -604,282 +588,342 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_0" name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_1" name="right_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_2" name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_3" name="right_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_4" name="right_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_5" name="right_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_6" name="right_palm_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_7" name="right_palm_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_0" name="right_palm_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_0" name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_1" name="right_index_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_2" name="right_index_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_3" name="right_index_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_4" name="right_index_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_5" name="right_index_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_6" name="right_index_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_7" name="right_index_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_0" name="right_index_proximal_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_index_intermediate_collision" name="left_index_intermediate_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_0" name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_1" name="right_index_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_2" name="right_index_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_3" name="right_index_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_4" name="right_index_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_5" name="right_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_6" name="right_index_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_7" name="right_index_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_0" name="right_index_intermediate_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_index_collision" name="left_index_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_0" name="right_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_1" name="right_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_2" name="right_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_3" name="right_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_4" name="right_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_5" name="right_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_6" name="right_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_7" name="right_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_0" name="right_index_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_0" name="right_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_1" name="right_middle_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_2" name="right_middle_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_3" name="right_middle_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_4" name="right_middle_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_5" name="right_middle_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_6" name="right_middle_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_7" name="right_middle_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_0" name="right_middle_proximal_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_0" name="right_middle_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_1" name="right_middle_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_2" name="right_middle_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_3" name="right_middle_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_middle_intermediate_collision" geom2="right_object_7" name="left_middle_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_middle_intermediate_collision" geom2="left_object_0" name="left_middle_intermediate_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_middle_collision" geom2="right_object_3" name="left_middle_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_middle_collision" geom2="right_object_4" name="left_middle_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_middle_collision" geom2="right_object_5" name="left_middle_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_middle_collision" geom2="right_object_6" name="left_middle_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_middle_collision" geom2="right_object_7" name="left_middle_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_middle_collision" geom2="left_object_0" name="left_middle_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_index_proximal_collision" geom2="right_object_6" name="left_index_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_proximal_collision" geom2="right_object_7" name="left_index_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_proximal_collision" geom2="left_object_0" name="left_index_proximal_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_intermediate_collision" geom2="left_thumb_collision" name="left_thumb_collision_left_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_intermediate_collision" geom2="right_object_0" name="left_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_intermediate_collision" geom2="right_object_1" name="left_index_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_intermediate_collision" geom2="right_object_2" name="left_index_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_intermediate_collision" geom2="right_object_3" name="left_index_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_intermediate_collision" geom2="right_object_4" name="left_index_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_intermediate_collision" geom2="right_object_5" name="left_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_intermediate_collision" geom2="right_object_6" name="left_index_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_intermediate_collision" geom2="right_object_7" name="left_index_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_intermediate_collision" geom2="left_object_0" name="left_index_intermediate_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="left_thumb_collision" name="left_thumb_collision_left_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="right_object_0" name="left_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="right_object_1" name="left_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="right_object_2" name="left_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="right_object_3" name="left_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="right_object_4" name="left_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="right_object_5" name="left_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="right_object_6" name="left_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="right_object_7" name="left_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="left_object_0" name="left_index_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_0" name="left_thumb_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_1" name="left_thumb_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_2" name="left_thumb_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_3" name="left_thumb_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_4" name="left_thumb_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_5" name="left_thumb_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_6" name="left_thumb_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_7" name="left_thumb_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="left_object_0" name="left_thumb_proximal_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_0" name="left_thumb_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_1" name="left_thumb_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_2" name="left_thumb_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_3" name="left_thumb_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_4" name="left_thumb_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_5" name="left_thumb_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_6" name="left_thumb_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_7" name="left_thumb_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_0" name="left_thumb_intermediate_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_0" name="left_thumb_distal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_1" name="left_thumb_distal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_2" name="left_thumb_distal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_3" name="left_thumb_distal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_4" name="left_thumb_distal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_5" name="left_thumb_distal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_6" name="left_thumb_distal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_7" name="left_thumb_distal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_0" name="left_thumb_distal_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_0" name="left_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_1" name="left_thumb_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_2" name="left_thumb_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_3" name="left_thumb_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_4" name="left_thumb_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_5" name="left_thumb_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_6" name="left_thumb_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_7" name="left_thumb_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_0" name="left_thumb_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
+    <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="left_object_0" name="floor_left_object_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_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_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_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="left_object_0" name="collision_hand_right_palm_0_left_object_0" 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="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
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+    <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"/>
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+    <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"/>
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+    <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="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
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+    <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"/>
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+    <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_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
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+    <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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" 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"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/oakink/allegro/bimanual/pour_tube/scene_eq.xml b/processed/oakink/allegro/bimanual/pour_tube/scene_eq.xml
index ec3a2415db26fb9022cfb97cb1b81690fb101d89..e7b7b3c3a89c3997713b441f574c31ff4fd31610 100644
--- a/processed/oakink/allegro/bimanual/pour_tube/scene_eq.xml
+++ b/processed/oakink/allegro/bimanual/pour_tube/scene_eq.xml
@@ -13,7 +13,7 @@
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
       <joint armature="1"/>
@@ -81,11 +81,11 @@
       </default>
       <default class="right_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base">
         <joint range="-0.47 0.47"/>
@@ -121,7 +121,7 @@
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
       <joint armature="1"/>
@@ -189,11 +189,11 @@
       </default>
       <default class="left_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base">
         <joint range="-0.47 0.47"/>
@@ -231,8 +231,8 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -292,31 +292,29 @@
       <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="right_palm_visual" mesh="right_base_link"/>
-      <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
         <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_ff_proximal" pos="0 0 0.0164">
           <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_ff_medial" pos="0 0 0.054">
             <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_ff_distal" pos="0 0 0.0384">
               <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_index_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -325,25 +323,23 @@
       <body name="right_mf_base" pos="0 0 0.0007">
         <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_mf_proximal" pos="0 0 0.0164">
           <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_mf_medial" pos="0 0 0.054">
             <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_mf_distal" pos="0 0 0.0384">
               <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_middle_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -352,25 +348,23 @@
       <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
         <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_rf_proximal" pos="0 0 0.0164">
           <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_rf_medial" pos="0 0 0.054">
             <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_rf_distal" pos="0 0 0.0384">
               <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_ring_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -379,25 +373,23 @@
       <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
         <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
         <geom class="right_visual" mesh="right_link_12.0_right"/>
-        <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
           <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="right_visual" mesh="right_link_13.0"/>
-          <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="right_th_medial" pos="0 0 0.0177">
             <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_visual" mesh="right_link_14.0"/>
-            <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="right_th_distal" pos="0 0 0.0514">
               <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_visual" mesh="right_link_15.0"/>
-              <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
-                <geom name="right_thumb_collision" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -412,31 +404,29 @@
       <joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link"/>
-      <geom name="left_palm_collision" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_left_palm_0" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
         <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_rf_proximal" pos="0 0 0.0164">
           <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_rf_medial" pos="0 0 0.054">
             <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_ring_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_rf_distal" pos="0 0 0.0384">
               <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_ring_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -445,25 +435,23 @@
       <body name="left_mf_base" pos="0 0 0.0007">
         <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_mf_proximal" pos="0 0 0.0164">
           <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_mf_medial" pos="0 0 0.054">
             <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_middle_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_mf_distal" pos="0 0 0.0384">
               <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_middle_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -472,25 +460,23 @@
       <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
         <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_ff_proximal" pos="0 0 0.0164">
           <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_index_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_ff_medial" pos="0 0 0.054">
             <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_index_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_ff_distal" pos="0 0 0.0384">
               <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_index_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -499,25 +485,23 @@
       <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
         <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
         <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
-        <geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
           <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="left_visual" mesh="left_link_13.0"/>
-          <geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="left_th_medial" pos="0 0 0.0177">
             <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_visual" mesh="left_link_14.0"/>
-            <geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="left_th_distal" pos="0 0 0.0514">
               <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <geom class="left_visual" mesh="left_link_15.0"/>
-              <geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
-                <geom name="left_thumb_collision" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -526,21 +510,21 @@
     </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" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0203067 -0.0419832 -0.0142064" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0159233 0.029516 0.0106019" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0317155 0.0209083 -0.0104862" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0308593 0.0204301 -0.0260402" size="0.01" 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"/>
@@ -568,13 +552,13 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_0"/>
       <geom name="left_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.00669959 -0.0069639 -0.0235738" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0118917 0.00691844 -0.0243164" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0197026 0.00954464 -0.0491164" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
@@ -604,282 +588,342 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_0" name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_1" name="right_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_2" name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_3" name="right_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_4" name="right_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_5" name="right_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_6" name="right_palm_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_7" name="right_palm_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_0" name="right_palm_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_0" name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_1" name="right_index_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_2" name="right_index_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_3" name="right_index_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_4" name="right_index_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_5" name="right_index_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_6" name="right_index_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_7" name="right_index_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_0" name="right_index_proximal_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_index_intermediate_collision" name="left_index_intermediate_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_0" name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_1" name="right_index_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_2" name="right_index_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_3" name="right_index_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_4" name="right_index_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_5" name="right_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_6" name="right_index_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_7" name="right_index_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_0" name="right_index_intermediate_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_index_proximal_collision" geom2="right_object_7" name="left_index_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_index_intermediate_collision" geom2="right_object_5" name="left_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_index_collision" geom2="right_object_7" name="left_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="left_object_0" name="left_index_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_0" name="left_thumb_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_1" name="left_thumb_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_6" name="left_thumb_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_3" name="left_thumb_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_4" name="left_thumb_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_5" name="left_thumb_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_6" name="left_thumb_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="right_object_7" name="left_thumb_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_0" name="left_thumb_intermediate_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_thumb_distal_collision" geom2="right_object_1" name="left_thumb_distal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_2" name="left_thumb_distal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_3" name="left_thumb_distal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_4" name="left_thumb_distal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_5" name="left_thumb_distal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_6" name="left_thumb_distal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_7" name="left_thumb_distal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_thumb_collision" geom2="right_object_0" name="left_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_1" name="left_thumb_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_2" name="left_thumb_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_3" name="left_thumb_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_4" name="left_thumb_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_5" name="left_thumb_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_6" name="left_thumb_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_7" name="left_thumb_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_0" name="left_thumb_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
+    <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="left_object_0" name="floor_left_object_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_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_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
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+    <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"/>
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+    <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="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
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+    <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"/>
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+    <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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" 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="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" 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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_left_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
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diff --git a/processed/oakink/allegro/bimanual/stir_beaker/0/config.yaml b/processed/oakink/allegro/bimanual/stir_beaker/0/config.yaml
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--- /dev/null
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diff --git a/processed/oakink/allegro/bimanual/stir_beaker/2/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/stir_beaker/2/trajectory_kinematic.npz
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--- /dev/null
+++ b/processed/oakink/allegro/bimanual/stir_beaker/2/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/allegro/bimanual/stir_beaker/2/trajectory_mjwp.npz b/processed/oakink/allegro/bimanual/stir_beaker/2/trajectory_mjwp.npz
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/processed/oakink/allegro/bimanual/stir_beaker/2/visualization_mjwp.mp4
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+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/allegro/bimanual/stir_beaker/3/config.yaml b/processed/oakink/allegro/bimanual/stir_beaker/3/config.yaml
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index 0000000000000000000000000000000000000000..c22c52a58416193f7f0aaa71a8fbc9dd3f79d001
--- /dev/null
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@@ -0,0 +1,90 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: stir_beaker
+seed: 3
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 3
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/stir_beaker/3/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/stir_beaker/3/trajectory_kinematic.npz
+simulator: mjwp
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+nconmax_per_env: 100
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+num_dyn: 1
+num_dr: 1
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+- -0.005
+- 0.005
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+- -0.005
+- 0.005
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+num_samples: 1024
+temperature: 1.0
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+- 41
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+- 16
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+ctrl_steps: 40
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+nq: 58
+nv: 56
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+npair: 652
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/stir_beaker/3
diff --git a/processed/oakink/allegro/bimanual/stir_beaker/3/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/stir_beaker/3/trajectory_kinematic.npz
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/allegro/bimanual/stir_beaker/4/config.yaml b/processed/oakink/allegro/bimanual/stir_beaker/4/config.yaml
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index 0000000000000000000000000000000000000000..7952b49471f74bacb47fafd16ffb4c097208a223
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/stir_beaker/4/config.yaml
@@ -0,0 +1,90 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: stir_beaker
+seed: 4
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/stir_beaker/4/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/stir_beaker/4/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
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+horizon: 2.0
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+max_sim_steps: 1154
+nconmax_per_env: 100
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+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
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+- -0.005
+- 0.005
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+num_samples: 1024
+temperature: 1.0
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+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
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+exploit_noise_scale: 0.01
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+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.1
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+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: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 27
+- 41
+- 3
+- 6
+- 9
+- 12
+- 16
+- 19
+- 22
+- 25
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+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 58
+nv: 56
+nu: 44
+npair: 652
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/stir_beaker/4
diff --git a/processed/oakink/allegro/bimanual/stir_beaker/4/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/stir_beaker/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..87bac2b57368f9705ab10a6b6efcc166fea41c9a
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/stir_beaker/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1091916
diff --git a/processed/oakink/allegro/bimanual/stir_beaker/4/trajectory_mjwp.npz b/processed/oakink/allegro/bimanual/stir_beaker/4/trajectory_mjwp.npz
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--- /dev/null
+++ b/processed/oakink/allegro/bimanual/stir_beaker/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c7a51ad3057efa6080c8b83ab1e1f5e152265beee76c1ac3fb9f774598117d4
+size 1560326
diff --git a/processed/oakink/allegro/bimanual/stir_beaker/4/visualization_mjwp.mp4 b/processed/oakink/allegro/bimanual/stir_beaker/4/visualization_mjwp.mp4
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index 0000000000000000000000000000000000000000..f8208c15286af81381c6b540770fe5a3e4d15eba
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/stir_beaker/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/allegro/bimanual/stir_beaker/scene.xml b/processed/oakink/allegro/bimanual/stir_beaker/scene.xml
index bd4f2615544ec8a7634d340e5552626edf33c837..ad31c3d493fcf03e6809a98c97a172f7f8bb74cd 100644
--- a/processed/oakink/allegro/bimanual/stir_beaker/scene.xml
+++ b/processed/oakink/allegro/bimanual/stir_beaker/scene.xml
@@ -1,5 +1,5 @@
 <mujoco model="bimanual">
-  <compiler angle="radian" meshdir="/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/"/>
+  <compiler angle="radian" meshdir="../../../assets/"/>
 
   <option timestep="0.01" iterations="10">
     <flag eulerdamp="disable"/>
@@ -13,7 +13,7 @@
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
       <joint armature="1"/>
@@ -81,11 +81,11 @@
       </default>
       <default class="right_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base">
         <joint range="-0.47 0.47"/>
@@ -121,7 +121,7 @@
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
       <joint armature="1"/>
@@ -189,11 +189,11 @@
       </default>
       <default class="left_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base">
         <joint range="-0.47 0.47"/>
@@ -231,12 +231,12 @@
   </default>
 
   <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" name="right_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="300"/>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" name="left_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="300"/>
-    <texture type="cube" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="cube" 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"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_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="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_black" rgba="0.2 0.2 0.2 1"/>
     <material name="right_white" rgba="0.9 0.9 0.9 1"/>
     <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
@@ -267,6 +267,14 @@
     <mesh name="left_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
     <mesh name="left_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
     <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"/>
     <mesh name="left_0" file="objects/C11001/convex/0.obj"/>
     <mesh name="left_1" file="objects/C11001/convex/1.obj"/>
     <mesh name="left_2" file="objects/C11001/convex/2.obj"/>
@@ -275,6 +283,7 @@
     <mesh name="left_5" file="objects/C11001/convex/5.obj"/>
     <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
     <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/C11001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/C11001/visual.obj"/>
   </asset>
@@ -292,112 +301,104 @@
       <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="right_palm_visual" mesh="right_base_link"/>
-      <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="right_ffj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_ff_proximal" pos="0 0 0.0164">
-          <joint name="right_ffj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_ff_medial" pos="0 0 0.054">
-            <joint name="right_ffj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_ff_distal" pos="0 0 0.0384">
-              <joint name="right_ffj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_index_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_mf_base" pos="0 0 0.0007">
-        <joint name="right_mfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_mf_proximal" pos="0 0 0.0164">
-          <joint name="right_mfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_mf_medial" pos="0 0 0.054">
-            <joint name="right_mfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_mf_distal" pos="0 0 0.0384">
-              <joint name="right_mfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_middle_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="right_rfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_rf_proximal" pos="0 0 0.0164">
-          <joint name="right_rfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_rf_medial" pos="0 0 0.054">
-            <joint name="right_rfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_rf_distal" pos="0 0 0.0384">
-              <joint name="right_rfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_ring_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
-        <joint name="right_thj0" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
+        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
         <geom class="right_visual" mesh="right_link_12.0_right"/>
-        <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
-          <joint name="right_thj1" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="right_visual" mesh="right_link_13.0"/>
-          <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="right_th_medial" pos="0 0 0.0177">
-            <joint name="right_thj2" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_visual" mesh="right_link_14.0"/>
-            <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="right_th_distal" pos="0 0 0.0514">
-              <joint name="right_thj3" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_visual" mesh="right_link_15.0"/>
-              <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
-                <geom name="right_thumb_collision" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -412,112 +413,104 @@
       <joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link"/>
-      <geom name="left_palm_collision" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_left_palm_0" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="left_rfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_rf_proximal" pos="0 0 0.0164">
-          <joint name="left_rfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_rf_medial" pos="0 0 0.054">
-            <joint name="left_rfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_ring_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_rf_distal" pos="0 0 0.0384">
-              <joint name="left_rfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_ring_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_mf_base" pos="0 0 0.0007">
-        <joint name="left_mfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_mf_proximal" pos="0 0 0.0164">
-          <joint name="left_mfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_mf_medial" pos="0 0 0.054">
-            <joint name="left_mfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_middle_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_mf_distal" pos="0 0 0.0384">
-              <joint name="left_mfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_middle_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="left_ffj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_ff_proximal" pos="0 0 0.0164">
-          <joint name="left_ffj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_index_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_ff_medial" pos="0 0 0.054">
-            <joint name="left_ffj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_index_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_ff_distal" pos="0 0 0.0384">
-              <joint name="left_ffj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_index_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
-        <joint name="left_thj0" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
+        <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
         <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
-        <geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
-          <joint name="left_thj1" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="left_visual" mesh="left_link_13.0"/>
-          <geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="left_th_medial" pos="0 0 0.0177">
-            <joint name="left_thj2" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_visual" mesh="left_link_14.0"/>
-            <geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="left_th_distal" pos="0 0 0.0514">
-              <joint name="left_thj3" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <geom class="left_visual" mesh="left_link_15.0"/>
-              <geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
-                <geom name="left_thumb_collision" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -525,15 +518,23 @@
       </body>
     </body>
     <body name="right_object">
-      <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
       <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_8"/>
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.00540756 -0.000501749 -0.0064119" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00821814 0.00740494 -0.0133851" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0090497 0.0269957 -0.00221597" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0161041 0.054549 -0.0138048" size="0.01" 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"/>
@@ -560,22 +561,23 @@
       <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="left_object">
-      <joint name="left_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0382117 0.0186336 0.0196904" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0342992 -0.0246372 0.0122467" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0293652 -0.0291073 -0.0180785" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0342168 -0.0184245 -0.0392152" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -604,282 +606,658 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_0" name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_0" name="right_palm_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_1" name="right_palm_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_2" name="right_palm_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_3" name="right_palm_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_4" name="right_palm_collision_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_5" name="right_palm_collision_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_6" name="right_palm_collision_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_7" name="right_palm_collision_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_0" name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_0" name="right_index_proximal_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_1" name="right_index_proximal_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_2" name="right_index_proximal_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_3" name="right_index_proximal_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_4" name="right_index_proximal_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_5" name="right_index_proximal_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_6" name="right_index_proximal_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_7" name="right_index_proximal_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_index_intermediate_collision" name="left_index_intermediate_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_0" name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_0" name="right_index_intermediate_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_1" name="right_index_intermediate_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_2" name="right_index_intermediate_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_3" name="right_index_intermediate_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_4" name="right_index_intermediate_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_5" name="right_index_intermediate_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_6" name="right_index_intermediate_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_7" name="right_index_intermediate_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_index_collision" name="left_index_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_0" name="right_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_0" name="right_index_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_1" name="right_index_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_2" name="right_index_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_3" name="right_index_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_4" name="right_index_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_5" name="right_index_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_6" name="right_index_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_7" name="right_index_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_0" name="right_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_0" name="right_middle_proximal_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_1" name="right_middle_proximal_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_2" name="right_middle_proximal_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_3" name="right_middle_proximal_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_4" name="right_middle_proximal_collision_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_5" name="right_middle_proximal_collision_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_6" name="right_middle_proximal_collision_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_7" name="right_middle_proximal_collision_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_0" name="right_middle_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_0" name="right_middle_intermediate_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_1" name="right_middle_intermediate_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_2" name="right_middle_intermediate_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_3" name="right_middle_intermediate_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_4" name="right_middle_intermediate_collision_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_5" name="right_middle_intermediate_collision_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_6" name="right_middle_intermediate_collision_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_7" name="right_middle_intermediate_collision_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_0" name="right_middle_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_0" name="right_middle_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_1" name="right_middle_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_2" name="right_middle_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_3" name="right_middle_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_4" name="right_middle_collision_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_5" name="right_middle_collision_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_6" name="right_middle_collision_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_7" name="right_middle_collision_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_0" name="right_ring_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="left_object_0" name="right_ring_proximal_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="left_object_1" name="right_ring_proximal_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="left_object_2" name="right_ring_proximal_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="left_object_3" name="right_ring_proximal_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="left_object_4" name="right_ring_proximal_collision_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="left_object_5" name="right_ring_proximal_collision_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="left_object_6" name="right_ring_proximal_collision_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="left_object_7" name="right_ring_proximal_collision_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="right_object_0" name="right_ring_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="left_object_0" name="right_ring_intermediate_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_index_intermediate_collision" geom2="left_object_5" name="left_index_intermediate_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_index_intermediate_collision" geom2="left_object_7" name="left_index_intermediate_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="left_thumb_collision" name="left_thumb_collision_left_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_index_collision" geom2="left_object_3" name="left_index_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="left_object_4" name="left_index_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="left_object_5" name="left_index_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="left_object_6" name="left_index_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="left_object_7" name="left_index_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_0" name="left_thumb_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="left_object_0" name="left_thumb_proximal_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_thumb_proximal_collision" geom2="left_object_2" name="left_thumb_proximal_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_thumb_proximal_collision" geom2="left_object_4" name="left_thumb_proximal_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="left_object_5" name="left_thumb_proximal_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="left_object_6" name="left_thumb_proximal_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="left_object_7" name="left_thumb_proximal_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_0" name="left_thumb_intermediate_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_1" name="left_thumb_intermediate_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_2" name="left_thumb_intermediate_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_3" name="left_thumb_intermediate_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_4" name="left_thumb_intermediate_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_5" name="left_thumb_intermediate_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_6" name="left_thumb_intermediate_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_7" name="left_thumb_intermediate_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_0" name="left_thumb_distal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_0" name="left_thumb_distal_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_1" name="left_thumb_distal_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_2" name="left_thumb_distal_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_3" name="left_thumb_distal_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_4" name="left_thumb_distal_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_5" name="left_thumb_distal_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_6" name="left_thumb_distal_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_7" name="left_thumb_distal_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_0" name="left_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_0" name="left_thumb_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_1" name="left_thumb_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_2" name="left_thumb_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_3" name="left_thumb_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_4" name="left_thumb_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_5" name="left_thumb_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_6" name="left_thumb_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_7" name="left_thumb_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
+    <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" 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_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_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_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_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_8" name="collision_hand_right_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_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"/>
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+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_8" name="collision_hand_right_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_8" name="collision_hand_left_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_4" name="collision_hand_left_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_8" name="collision_hand_left_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_left_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
@@ -889,43 +1267,43 @@
     <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
     <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
     <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
-    <general name="right_ffa0" class="right_base" joint="right_ffj0"/>
-    <general name="right_ffa1" class="right_proximal" joint="right_ffj1"/>
-    <general name="right_ffa2" class="right_medial" joint="right_ffj2"/>
-    <general name="right_ffa3" class="right_distal" joint="right_ffj3"/>
-    <general name="right_mfa0" class="right_base" joint="right_mfj0"/>
-    <general name="right_mfa1" class="right_proximal" joint="right_mfj1"/>
-    <general name="right_mfa2" class="right_medial" joint="right_mfj2"/>
-    <general name="right_mfa3" class="right_distal" joint="right_mfj3"/>
-    <general name="right_rfa0" class="right_base" joint="right_rfj0"/>
-    <general name="right_rfa1" class="right_proximal" joint="right_rfj1"/>
-    <general name="right_rfa2" class="right_medial" joint="right_rfj2"/>
-    <general name="right_rfa3" class="right_distal" joint="right_rfj3"/>
-    <general name="right_tha0" class="right_thumb_base" joint="right_thj0"/>
-    <general name="right_tha1" class="right_thumb_proximal" joint="right_thj1"/>
-    <general name="right_tha2" class="right_thumb_medial" joint="right_thj2"/>
-    <general name="right_tha3" class="right_thumb_distal" joint="right_thj3"/>
+    <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
+    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
+    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
+    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
+    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
+    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
+    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
+    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
+    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
+    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
+    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
+    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
+    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
+    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
+    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
+    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
     <general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
     <general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
     <general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
     <general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
     <general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
     <general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
-    <general name="left_rfa0" class="left_base" joint="left_rfj0"/>
-    <general name="left_rfa1" class="left_proximal" joint="left_rfj1"/>
-    <general name="left_rfa2" class="left_medial" joint="left_rfj2"/>
-    <general name="left_rfa3" class="left_distal" joint="left_rfj3"/>
-    <general name="left_mfa0" class="left_base" joint="left_mfj0"/>
-    <general name="left_mfa1" class="left_proximal" joint="left_mfj1"/>
-    <general name="left_mfa2" class="left_medial" joint="left_mfj2"/>
-    <general name="left_mfa3" class="left_distal" joint="left_mfj3"/>
-    <general name="left_ffa0" class="left_base" joint="left_ffj0"/>
-    <general name="left_ffa1" class="left_proximal" joint="left_ffj1"/>
-    <general name="left_ffa2" class="left_medial" joint="left_ffj2"/>
-    <general name="left_ffa3" class="left_distal" joint="left_ffj3"/>
-    <general name="left_tha0" class="left_thumb_base" joint="left_thj0"/>
-    <general name="left_tha1" class="left_thumb_proximal" joint="left_thj1"/>
-    <general name="left_tha2" class="left_thumb_medial" joint="left_thj2"/>
-    <general name="left_tha3" class="left_thumb_distal" joint="left_thj3"/>
+    <general name="left_rfa0" class="left_base" joint="left_ring_base_joint"/>
+    <general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint"/>
+    <general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint"/>
+    <general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint"/>
+    <general name="left_mfa0" class="left_base" joint="left_middle_base_joint"/>
+    <general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint"/>
+    <general name="left_mfa2" class="left_medial" joint="left_middle_medial_joint"/>
+    <general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint"/>
+    <general name="left_ffa0" class="left_base" joint="left_index_base_joint"/>
+    <general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint"/>
+    <general name="left_ffa2" class="left_medial" joint="left_index_medial_joint"/>
+    <general name="left_ffa3" class="left_distal" joint="left_index_distal_joint"/>
+    <general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint"/>
+    <general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint"/>
+    <general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint"/>
+    <general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/allegro/bimanual/stir_beaker/scene_eq.xml b/processed/oakink/allegro/bimanual/stir_beaker/scene_eq.xml
index f6257db910ca3166174383bd5a78cf370d3e07fe..29c3c74409a2a16c7ac7956ef41c304f8d7e2699 100644
--- a/processed/oakink/allegro/bimanual/stir_beaker/scene_eq.xml
+++ b/processed/oakink/allegro/bimanual/stir_beaker/scene_eq.xml
@@ -1,5 +1,5 @@
 <mujoco model="bimanual">
-  <compiler angle="radian" meshdir="/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/"/>
+  <compiler angle="radian" meshdir="../../../assets/"/>
 
   <option timestep="0.01" iterations="10">
     <flag eulerdamp="disable"/>
@@ -13,7 +13,7 @@
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
       <joint armature="1"/>
@@ -81,11 +81,11 @@
       </default>
       <default class="right_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base">
         <joint range="-0.47 0.47"/>
@@ -121,7 +121,7 @@
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
       <joint armature="1"/>
@@ -189,11 +189,11 @@
       </default>
       <default class="left_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base">
         <joint range="-0.47 0.47"/>
@@ -231,8 +231,8 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -267,6 +267,14 @@
     <mesh name="left_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
     <mesh name="left_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
     <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"/>
     <mesh name="left_0" file="objects/C11001/convex/0.obj"/>
     <mesh name="left_1" file="objects/C11001/convex/1.obj"/>
     <mesh name="left_2" file="objects/C11001/convex/2.obj"/>
@@ -275,6 +283,7 @@
     <mesh name="left_5" file="objects/C11001/convex/5.obj"/>
     <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
     <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/C11001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/C11001/visual.obj"/>
   </asset>
@@ -292,112 +301,104 @@
       <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="right_palm_visual" mesh="right_base_link"/>
-      <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="right_ffj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_ff_proximal" pos="0 0 0.0164">
-          <joint name="right_ffj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_ff_medial" pos="0 0 0.054">
-            <joint name="right_ffj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_ff_distal" pos="0 0 0.0384">
-              <joint name="right_ffj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_index_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_mf_base" pos="0 0 0.0007">
-        <joint name="right_mfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_mf_proximal" pos="0 0 0.0164">
-          <joint name="right_mfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_mf_medial" pos="0 0 0.054">
-            <joint name="right_mfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_mf_distal" pos="0 0 0.0384">
-              <joint name="right_mfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_middle_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="right_rfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_rf_proximal" pos="0 0 0.0164">
-          <joint name="right_rfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_rf_medial" pos="0 0 0.054">
-            <joint name="right_rfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_rf_distal" pos="0 0 0.0384">
-              <joint name="right_rfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_ring_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
-        <joint name="right_thj0" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
+        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
         <geom class="right_visual" mesh="right_link_12.0_right"/>
-        <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
-          <joint name="right_thj1" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="right_visual" mesh="right_link_13.0"/>
-          <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="right_th_medial" pos="0 0 0.0177">
-            <joint name="right_thj2" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_visual" mesh="right_link_14.0"/>
-            <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="right_th_distal" pos="0 0 0.0514">
-              <joint name="right_thj3" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_visual" mesh="right_link_15.0"/>
-              <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
-                <geom name="right_thumb_collision" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -412,112 +413,104 @@
       <joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link"/>
-      <geom name="left_palm_collision" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_left_palm_0" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="left_rfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_rf_proximal" pos="0 0 0.0164">
-          <joint name="left_rfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_rf_medial" pos="0 0 0.054">
-            <joint name="left_rfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_ring_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_rf_distal" pos="0 0 0.0384">
-              <joint name="left_rfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_ring_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_mf_base" pos="0 0 0.0007">
-        <joint name="left_mfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_mf_proximal" pos="0 0 0.0164">
-          <joint name="left_mfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_mf_medial" pos="0 0 0.054">
-            <joint name="left_mfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_middle_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_mf_distal" pos="0 0 0.0384">
-              <joint name="left_mfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_middle_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="left_ffj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_ff_proximal" pos="0 0 0.0164">
-          <joint name="left_ffj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_index_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_ff_medial" pos="0 0 0.054">
-            <joint name="left_ffj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_index_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_ff_distal" pos="0 0 0.0384">
-              <joint name="left_ffj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_index_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
-        <joint name="left_thj0" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
+        <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
         <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
-        <geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
-          <joint name="left_thj1" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="left_visual" mesh="left_link_13.0"/>
-          <geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="left_th_medial" pos="0 0 0.0177">
-            <joint name="left_thj2" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_visual" mesh="left_link_14.0"/>
-            <geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="left_th_distal" pos="0 0 0.0514">
-              <joint name="left_thj3" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <geom class="left_visual" mesh="left_link_15.0"/>
-              <geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
-                <geom name="left_thumb_collision" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -525,15 +518,23 @@
       </body>
     </body>
     <body name="right_object">
-      <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
       <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_8"/>
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.00540756 -0.000501749 -0.0064119" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00821814 0.00740494 -0.0133851" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0090497 0.0269957 -0.00221597" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0161041 0.054549 -0.0138048" size="0.01" 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"/>
@@ -560,22 +561,23 @@
       <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="left_object">
-      <joint name="left_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0382117 0.0186336 0.0196904" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0342992 -0.0246372 0.0122467" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0293652 -0.0291073 -0.0180785" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0342168 -0.0184245 -0.0392152" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -604,282 +606,658 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_0" name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_0" name="right_palm_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_1" name="right_palm_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_2" name="right_palm_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_3" name="right_palm_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_4" name="right_palm_collision_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_5" name="right_palm_collision_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_6" name="right_palm_collision_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_7" name="right_palm_collision_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_0" name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_0" name="right_index_proximal_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_1" name="right_index_proximal_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_2" name="right_index_proximal_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_3" name="right_index_proximal_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_4" name="right_index_proximal_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_5" name="right_index_proximal_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_6" name="right_index_proximal_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_7" name="right_index_proximal_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_index_intermediate_collision" name="left_index_intermediate_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_0" name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_0" name="right_index_intermediate_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_1" name="right_index_intermediate_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_2" name="right_index_intermediate_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_3" name="right_index_intermediate_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_4" name="right_index_intermediate_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_5" name="right_index_intermediate_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_6" name="right_index_intermediate_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_7" name="right_index_intermediate_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_index_collision" name="left_index_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_0" name="right_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_0" name="right_index_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_1" name="right_index_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_2" name="right_index_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_3" name="right_index_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_4" name="right_index_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_5" name="right_index_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_6" name="right_index_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_7" name="right_index_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_0" name="right_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_0" name="right_middle_proximal_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_1" name="right_middle_proximal_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_2" name="right_middle_proximal_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_3" name="right_middle_proximal_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_4" name="right_middle_proximal_collision_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_5" name="right_middle_proximal_collision_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_6" name="right_middle_proximal_collision_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_7" name="right_middle_proximal_collision_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_0" name="right_middle_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_0" name="right_middle_intermediate_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_1" name="right_middle_intermediate_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_2" name="right_middle_intermediate_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_3" name="right_middle_intermediate_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_4" name="right_middle_intermediate_collision_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_5" name="right_middle_intermediate_collision_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_6" name="right_middle_intermediate_collision_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_7" name="right_middle_intermediate_collision_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_0" name="right_middle_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_0" name="right_middle_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_1" name="right_middle_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_2" name="right_middle_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_3" name="right_middle_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_4" name="right_middle_collision_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_5" name="right_middle_collision_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_6" name="right_middle_collision_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_7" name="right_middle_collision_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_0" name="right_ring_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="left_object_0" name="right_ring_proximal_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="left_object_1" name="right_ring_proximal_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="left_object_2" name="right_ring_proximal_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="left_object_3" name="right_ring_proximal_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="left_object_4" name="right_ring_proximal_collision_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_index_intermediate_collision" geom2="left_object_5" name="left_index_intermediate_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_index_intermediate_collision" geom2="left_object_7" name="left_index_intermediate_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="left_thumb_collision" name="left_thumb_collision_left_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_index_collision" geom2="left_object_2" name="left_index_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="left_object_3" name="left_index_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="left_object_4" name="left_index_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="left_object_5" name="left_index_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="left_object_6" name="left_index_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_index_collision" geom2="left_object_7" name="left_index_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="right_object_0" name="left_thumb_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="left_object_0" name="left_thumb_proximal_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="left_object_1" name="left_thumb_proximal_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="left_object_2" name="left_thumb_proximal_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="left_object_3" name="left_thumb_proximal_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="left_object_4" name="left_thumb_proximal_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="left_object_5" name="left_thumb_proximal_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="left_object_6" name="left_thumb_proximal_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_proximal_collision" geom2="left_object_7" name="left_thumb_proximal_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_0" name="left_thumb_intermediate_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_1" name="left_thumb_intermediate_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_2" name="left_thumb_intermediate_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_3" name="left_thumb_intermediate_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_4" name="left_thumb_intermediate_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_5" name="left_thumb_intermediate_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_6" name="left_thumb_intermediate_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_7" name="left_thumb_intermediate_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_0" name="left_thumb_distal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_0" name="left_thumb_distal_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_1" name="left_thumb_distal_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_2" name="left_thumb_distal_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_3" name="left_thumb_distal_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_4" name="left_thumb_distal_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_5" name="left_thumb_distal_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_6" name="left_thumb_distal_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_7" name="left_thumb_distal_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_0" name="left_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_0" name="left_thumb_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_1" name="left_thumb_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_2" name="left_thumb_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_3" name="left_thumb_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_4" name="left_thumb_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_5" name="left_thumb_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_6" name="left_thumb_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_7" name="left_thumb_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
+    <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" 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_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_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_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_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
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+    <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"/>
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+    <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="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_8" name="collision_hand_right_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_8" name="collision_hand_left_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_4" name="collision_hand_left_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_8" name="collision_hand_left_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_left_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
@@ -908,43 +1286,43 @@
     <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
     <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
     <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
-    <general name="right_ffa0" class="right_base" joint="right_ffj0"/>
-    <general name="right_ffa1" class="right_proximal" joint="right_ffj1"/>
-    <general name="right_ffa2" class="right_medial" joint="right_ffj2"/>
-    <general name="right_ffa3" class="right_distal" joint="right_ffj3"/>
-    <general name="right_mfa0" class="right_base" joint="right_mfj0"/>
-    <general name="right_mfa1" class="right_proximal" joint="right_mfj1"/>
-    <general name="right_mfa2" class="right_medial" joint="right_mfj2"/>
-    <general name="right_mfa3" class="right_distal" joint="right_mfj3"/>
-    <general name="right_rfa0" class="right_base" joint="right_rfj0"/>
-    <general name="right_rfa1" class="right_proximal" joint="right_rfj1"/>
-    <general name="right_rfa2" class="right_medial" joint="right_rfj2"/>
-    <general name="right_rfa3" class="right_distal" joint="right_rfj3"/>
-    <general name="right_tha0" class="right_thumb_base" joint="right_thj0"/>
-    <general name="right_tha1" class="right_thumb_proximal" joint="right_thj1"/>
-    <general name="right_tha2" class="right_thumb_medial" joint="right_thj2"/>
-    <general name="right_tha3" class="right_thumb_distal" joint="right_thj3"/>
+    <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
+    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
+    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
+    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
+    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
+    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
+    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
+    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
+    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
+    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
+    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
+    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
+    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
+    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
+    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
+    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
     <general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
     <general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
     <general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
     <general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
     <general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
     <general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
-    <general name="left_rfa0" class="left_base" joint="left_rfj0"/>
-    <general name="left_rfa1" class="left_proximal" joint="left_rfj1"/>
-    <general name="left_rfa2" class="left_medial" joint="left_rfj2"/>
-    <general name="left_rfa3" class="left_distal" joint="left_rfj3"/>
-    <general name="left_mfa0" class="left_base" joint="left_mfj0"/>
-    <general name="left_mfa1" class="left_proximal" joint="left_mfj1"/>
-    <general name="left_mfa2" class="left_medial" joint="left_mfj2"/>
-    <general name="left_mfa3" class="left_distal" joint="left_mfj3"/>
-    <general name="left_ffa0" class="left_base" joint="left_ffj0"/>
-    <general name="left_ffa1" class="left_proximal" joint="left_ffj1"/>
-    <general name="left_ffa2" class="left_medial" joint="left_ffj2"/>
-    <general name="left_ffa3" class="left_distal" joint="left_ffj3"/>
-    <general name="left_tha0" class="left_thumb_base" joint="left_thj0"/>
-    <general name="left_tha1" class="left_thumb_proximal" joint="left_thj1"/>
-    <general name="left_tha2" class="left_thumb_medial" joint="left_thj2"/>
-    <general name="left_tha3" class="left_thumb_distal" joint="left_thj3"/>
+    <general name="left_rfa0" class="left_base" joint="left_ring_base_joint"/>
+    <general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint"/>
+    <general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint"/>
+    <general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint"/>
+    <general name="left_mfa0" class="left_base" joint="left_middle_base_joint"/>
+    <general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint"/>
+    <general name="left_mfa2" class="left_medial" joint="left_middle_medial_joint"/>
+    <general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint"/>
+    <general name="left_ffa0" class="left_base" joint="left_index_base_joint"/>
+    <general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint"/>
+    <general name="left_ffa2" class="left_medial" joint="left_index_medial_joint"/>
+    <general name="left_ffa3" class="left_distal" joint="left_index_distal_joint"/>
+    <general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint"/>
+    <general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint"/>
+    <general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint"/>
+    <general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/allegro/bimanual/summary.csv b/processed/oakink/allegro/bimanual/summary.csv
index 6066083f0147d1692255752f3f06123ee48e463a..f88ea70e317eeb33e6b86d080ce3d08f53a3333d 100644
--- a/processed/oakink/allegro/bimanual/summary.csv
+++ b/processed/oakink/allegro/bimanual/summary.csv
@@ -1,15 +1,50 @@
-task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,pos_err_threshold,quat_err_threshold,timestamp,data_type,data_id,obj_pos_err,obj_quat_err,success
-lift_board,1,0,0.0,0.1994,,0.5936,,oakink,allegro,bimanual,0.1,0.3,2025-08-23 10:49:48,,,,,
-pick_spoon_bowl,1,0,0.0,0.0694,,0.3992,,oakink,allegro,bimanual,0.1,0.3,2025-08-23 10:49:48,,,,,
-pour_tube,1,0,0.0,0.1541,,1.0011,,oakink,allegro,bimanual,0.1,0.3,2025-08-23 10:49:48,,,,,
-stir_beaker,1,0,0.0,0.0855,,0.4637,,oakink,allegro,bimanual,0.1,0.3,2025-08-23 10:49:48,,,,,
-uncap_alcohol_burner,1,0,0.0,0.0413,,0.3096,,oakink,allegro,bimanual,0.1,0.3,2025-08-23 10:49:48,,,,,
-unplug,1,1,1.0,0.0305,,0.1627,,oakink,allegro,bimanual,0.1,0.3,2025-08-23 10:49:48,,,,,
-wipe_board,1,0,0.0,0.0569,,0.4264,,oakink,allegro,bimanual,0.1,0.3,2025-08-23 10:49:48,,,,,
-wipe_board,1,1,1.0,0.06863966623921508,0.0,0.490817200438168,0.0,oakink,allegro,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.06863966623921508,0.490817200438168,True
-pour_tube,1,0,0.0,0.08647227520007562,0.0,0.542277802550268,0.0,oakink,allegro,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.08647227520007562,0.542277802550268,False
-uncap_alcohol_burner,1,1,1.0,0.05024575240076945,0.0,0.22850972023174063,0.0,oakink,allegro,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.05024575240076945,0.22850972023174063,True
-lift_board,1,0,0.0,0.1971159410933317,0.0,0.3224639314738329,0.0,oakink,allegro,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.1971159410933317,0.3224639314738329,False
-stir_beaker,1,1,1.0,0.09830110547481706,0.0,0.46532961187735816,0.0,oakink,allegro,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.09830110547481706,0.46532961187735816,True
-pick_spoon_bowl,1,1,1.0,0.06741285013719364,0.0,0.34192790170585075,0.0,oakink,allegro,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.06741285013719364,0.34192790170585075,True
-unplug,1,1,1.0,0.029681725358740883,0.0,0.16376499208874695,0.0,oakink,allegro,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.029681725358740883,0.16376499208874695,True
+dataset,robot_type,embodiment_type,data_type,task,data_id,obj_pos_err,obj_quat_err,success,pos_err_threshold,quat_err_threshold,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,timestamp
+oakink,allegro,bimanual,mjwp,uncap_alcohol_burner,0,0.0223813433667444,0.7814538244190592,False,0.1,0.6,1,0,0.0,0.0223813433667444,0.0,0.7814538244190592,0.0,2026-01-27 20:13:35
+oakink,allegro,bimanual,mjwp,uncap_alcohol_burner,1,0.0121764357760738,0.5232507310923629,True,0.1,0.6,1,1,1.0,0.0121764357760738,0.0,0.5232507310923629,0.0,2026-01-27 20:13:35
+oakink,allegro,bimanual,mjwp,stir_beaker,0,0.0287506849346092,0.3218527735080048,True,0.1,0.6,1,1,1.0,0.0287506849346092,0.0,0.3218527735080048,0.0,2026-01-27 20:13:35
+oakink,allegro,bimanual,mjwp,stir_beaker,1,0.089215901483188,0.9039982716736258,False,0.1,0.6,1,0,0.0,0.089215901483188,0.0,0.9039982716736258,0.0,2026-01-27 20:13:35
+oakink,allegro,bimanual,mjwp,unplug,0,0.0135196978273179,0.1871050410782162,True,0.1,0.6,1,1,1.0,0.0135196978273179,0.0,0.1871050410782162,0.0,2026-01-27 20:13:35
+oakink,allegro,bimanual,mjwp,unplug,1,0.0372924693224141,0.3650358689795932,True,0.1,0.6,1,1,1.0,0.0372924693224141,0.0,0.3650358689795932,0.0,2026-01-27 20:13:35
+oakink,allegro,bimanual,mjwp,pick_spoon_bowl,0,0.0584901636722309,0.9616620820849796,False,0.1,0.6,1,0,0.0,0.0584901636722309,0.0,0.9616620820849796,0.0,2026-01-27 20:13:35
+oakink,allegro,bimanual,mjwp,pick_spoon_bowl,1,0.0266150809930287,0.300373656469684,True,0.1,0.6,1,1,1.0,0.0266150809930287,0.0,0.300373656469684,0.0,2026-01-27 20:13:35
+oakink,allegro,bimanual,mjwp,lift_board,0,0.0164294785559188,0.1423550141375351,True,0.1,0.6,1,1,1.0,0.0164294785559188,0.0,0.1423550141375351,0.0,2026-01-27 20:13:35
+oakink,allegro,bimanual,mjwp,lift_board,1,0.0112728600588014,0.0960501418390907,True,0.1,0.6,1,1,1.0,0.0112728600588014,0.0,0.0960501418390907,0.0,2026-01-27 20:13:35
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diff --git a/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0/config.yaml b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0/config.yaml
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index 0000000000000000000000000000000000000000..7bc043c1710e6dd09d4af0a4412c1efec0bad342
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+++ b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0/config.yaml
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+robot_type: allegro
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diff --git a/processed/oakink/allegro/bimanual/uncap_alcohol_burner/3/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/3/trajectory_kinematic.npz
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+robot_type: allegro
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+task: uncap_alcohol_burner
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+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/uncap_alcohol_burner/4/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/uncap_alcohol_burner/4/trajectory_kinematic.npz
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+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/uncap_alcohol_burner/4
diff --git a/processed/oakink/allegro/bimanual/uncap_alcohol_burner/4/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/4/trajectory_kinematic.npz
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/allegro/bimanual/uncap_alcohol_burner/scene.xml b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/scene.xml
index e98513a000ba6e502ed91bb1d907eab3433fb6bd..f2a4bb312d12ffc215536cdcfc7d311a631a6c26 100644
--- a/processed/oakink/allegro/bimanual/uncap_alcohol_burner/scene.xml
+++ b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/scene.xml
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 <mujoco model="bimanual">
-  <compiler angle="radian" meshdir="/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/"/>
+  <compiler angle="radian" meshdir="../../../assets/"/>
 
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@@ -81,11 +81,11 @@
       </default>
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-        <general ctrlrange="-3 3"/>
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       </default>
       <default class="right_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
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       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
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     <default class="allegro_left">
       <joint armature="1"/>
@@ -189,11 +189,11 @@
       </default>
       <default class="left_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base">
         <joint range="-0.47 0.47"/>
@@ -231,12 +231,12 @@
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-    <texture type="cube" 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"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_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="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_black" rgba="0.2 0.2 0.2 1"/>
     <material name="right_white" rgba="0.9 0.9 0.9 1"/>
     <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
@@ -272,12 +272,14 @@
     <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj"/>
     <mesh name="right_5" file="objects/O02@0206@00001/convex/5.obj"/>
-    <mesh name="right_6" file="objects/O02@0206@00001/convex/6.obj"/>
-    <mesh name="right_7" file="objects/O02@0206@00001/convex/7.obj"/>
     <mesh name="left_0" file="objects/O02@0206@00002/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0206@00002/convex/1.obj"/>
     <mesh name="left_2" file="objects/O02@0206@00002/convex/2.obj"/>
     <mesh name="left_3" file="objects/O02@0206@00002/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0206@00002/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0206@00002/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0206@00002/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0206@00002/convex/7.obj"/>
     <mesh name="right_visual" file="objects/O02@0206@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0206@00002/visual.obj"/>
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       <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="right_palm_visual" mesh="right_base_link"/>
-      <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="right_ffj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_ff_proximal" pos="0 0 0.0164">
-          <joint name="right_ffj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_ff_medial" pos="0 0 0.054">
-            <joint name="right_ffj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_ff_distal" pos="0 0 0.0384">
-              <joint name="right_ffj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_index_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_mf_base" pos="0 0 0.0007">
-        <joint name="right_mfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_mf_proximal" pos="0 0 0.0164">
-          <joint name="right_mfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_mf_medial" pos="0 0 0.054">
-            <joint name="right_mfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_mf_distal" pos="0 0 0.0384">
-              <joint name="right_mfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_middle_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="right_rfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_rf_proximal" pos="0 0 0.0164">
-          <joint name="right_rfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_rf_medial" pos="0 0 0.054">
-            <joint name="right_rfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_rf_distal" pos="0 0 0.0384">
-              <joint name="right_rfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_ring_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
-        <joint name="right_thj0" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
+        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
         <geom class="right_visual" mesh="right_link_12.0_right"/>
-        <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
-          <joint name="right_thj1" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="right_visual" mesh="right_link_13.0"/>
-          <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="right_th_medial" pos="0 0 0.0177">
-            <joint name="right_thj2" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_visual" mesh="right_link_14.0"/>
-            <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="right_th_distal" pos="0 0 0.0514">
-              <joint name="right_thj3" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_visual" mesh="right_link_15.0"/>
-              <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
-                <geom name="right_thumb_collision" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -415,112 +409,104 @@
       <joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link"/>
-      <geom name="left_palm_collision" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_left_palm_0" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="left_rfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_rf_proximal" pos="0 0 0.0164">
-          <joint name="left_rfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_rf_medial" pos="0 0 0.054">
-            <joint name="left_rfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_ring_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_rf_distal" pos="0 0 0.0384">
-              <joint name="left_rfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_ring_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_mf_base" pos="0 0 0.0007">
-        <joint name="left_mfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_mf_proximal" pos="0 0 0.0164">
-          <joint name="left_mfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_mf_medial" pos="0 0 0.054">
-            <joint name="left_mfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_middle_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_mf_distal" pos="0 0 0.0384">
-              <joint name="left_mfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_middle_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="left_ffj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_ff_proximal" pos="0 0 0.0164">
-          <joint name="left_ffj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_index_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_ff_medial" pos="0 0 0.054">
-            <joint name="left_ffj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_index_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_ff_distal" pos="0 0 0.0384">
-              <joint name="left_ffj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_index_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
-        <joint name="left_thj0" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
+        <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
         <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
-        <geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
-          <joint name="left_thj1" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="left_visual" mesh="left_link_13.0"/>
-          <geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="left_th_medial" pos="0 0 0.0177">
-            <joint name="left_thj2" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_visual" mesh="left_link_14.0"/>
-            <geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="left_th_distal" pos="0 0 0.0514">
-              <joint name="left_thj3" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <geom class="left_visual" mesh="left_link_15.0"/>
-              <geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
-                <geom name="left_thumb_collision" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -528,21 +514,19 @@
       </body>
     </body>
     <body name="right_object">
-      <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
       <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
       <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
       <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
       <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
       <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
       <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0135767 0.0358624 0.00113103" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_right_thumb_tip" mocap="true">
@@ -570,17 +554,21 @@
       <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="left_object">
-      <joint name="left_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_7"/>
       <geom name="left_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
@@ -610,393 +598,517 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_0" name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_1" name="right_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_2" name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_3" name="right_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_4" name="right_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_5" name="right_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_6" name="right_palm_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_7" name="right_palm_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_0" name="right_palm_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_1" name="right_palm_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_2" name="right_palm_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_3" name="right_palm_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_0" name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_1" name="right_index_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_2" name="right_index_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_3" name="right_index_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_4" name="right_index_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_5" name="right_index_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_6" name="right_index_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_7" name="right_index_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_0" name="right_index_proximal_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_1" name="right_index_proximal_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_2" name="right_index_proximal_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_3" name="right_index_proximal_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_index_intermediate_collision" name="left_index_intermediate_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_0" name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_1" name="right_index_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_2" name="right_index_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_3" name="right_index_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_4" name="right_index_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_5" name="right_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_6" name="right_index_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_7" name="right_index_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_0" name="right_index_intermediate_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_1" name="right_index_intermediate_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_2" name="right_index_intermediate_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_3" name="right_index_intermediate_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_index_collision" name="left_index_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_0" name="right_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_1" name="right_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_2" name="right_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_3" name="right_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_4" name="right_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_5" name="right_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_6" name="right_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_7" name="right_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_0" name="right_index_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_1" name="right_index_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_2" name="right_index_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_3" name="right_index_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_0" name="right_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_1" name="right_middle_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_2" name="right_middle_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_3" name="right_middle_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_4" name="right_middle_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_5" name="right_middle_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_6" name="right_middle_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_7" name="right_middle_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_0" name="right_middle_proximal_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_1" name="right_middle_proximal_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_2" name="right_middle_proximal_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_3" name="right_middle_proximal_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_1" name="left_thumb_intermediate_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_2" name="left_thumb_intermediate_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_intermediate_collision" geom2="left_object_3" name="left_thumb_intermediate_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_0" name="left_thumb_distal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_1" name="left_thumb_distal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_2" name="left_thumb_distal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_3" name="left_thumb_distal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_4" name="left_thumb_distal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_5" name="left_thumb_distal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_6" name="left_thumb_distal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="right_object_7" name="left_thumb_distal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_0" name="left_thumb_distal_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_1" name="left_thumb_distal_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_2" name="left_thumb_distal_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_distal_collision" geom2="left_object_3" name="left_thumb_distal_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_0" name="left_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_1" name="left_thumb_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_2" name="left_thumb_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_3" name="left_thumb_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_4" name="left_thumb_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_5" name="left_thumb_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_6" name="left_thumb_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="right_object_7" name="left_thumb_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_0" name="left_thumb_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_1" name="left_thumb_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_2" name="left_thumb_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="left_thumb_collision" geom2="left_object_3" name="left_thumb_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
+    <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" 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_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_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" 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="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" 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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="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"/>
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+    <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"/>
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+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_3" name="collision_hand_right_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_4" name="collision_hand_right_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
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+    <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_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
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+    <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"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" 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"/>
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+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
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+    <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
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+    <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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" 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="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" 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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
@@ -1006,43 +1118,43 @@
     <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
     <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
     <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
-    <general name="right_ffa0" class="right_base" joint="right_ffj0"/>
-    <general name="right_ffa1" class="right_proximal" joint="right_ffj1"/>
-    <general name="right_ffa2" class="right_medial" joint="right_ffj2"/>
-    <general name="right_ffa3" class="right_distal" joint="right_ffj3"/>
-    <general name="right_mfa0" class="right_base" joint="right_mfj0"/>
-    <general name="right_mfa1" class="right_proximal" joint="right_mfj1"/>
-    <general name="right_mfa2" class="right_medial" joint="right_mfj2"/>
-    <general name="right_mfa3" class="right_distal" joint="right_mfj3"/>
-    <general name="right_rfa0" class="right_base" joint="right_rfj0"/>
-    <general name="right_rfa1" class="right_proximal" joint="right_rfj1"/>
-    <general name="right_rfa2" class="right_medial" joint="right_rfj2"/>
-    <general name="right_rfa3" class="right_distal" joint="right_rfj3"/>
-    <general name="right_tha0" class="right_thumb_base" joint="right_thj0"/>
-    <general name="right_tha1" class="right_thumb_proximal" joint="right_thj1"/>
-    <general name="right_tha2" class="right_thumb_medial" joint="right_thj2"/>
-    <general name="right_tha3" class="right_thumb_distal" joint="right_thj3"/>
+    <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
+    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
+    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
+    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
+    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
+    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
+    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
+    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
+    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
+    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
+    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
+    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
+    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
+    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
+    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
+    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
     <general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
     <general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
     <general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
     <general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
     <general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
     <general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
-    <general name="left_rfa0" class="left_base" joint="left_rfj0"/>
-    <general name="left_rfa1" class="left_proximal" joint="left_rfj1"/>
-    <general name="left_rfa2" class="left_medial" joint="left_rfj2"/>
-    <general name="left_rfa3" class="left_distal" joint="left_rfj3"/>
-    <general name="left_mfa0" class="left_base" joint="left_mfj0"/>
-    <general name="left_mfa1" class="left_proximal" joint="left_mfj1"/>
-    <general name="left_mfa2" class="left_medial" joint="left_mfj2"/>
-    <general name="left_mfa3" class="left_distal" joint="left_mfj3"/>
-    <general name="left_ffa0" class="left_base" joint="left_ffj0"/>
-    <general name="left_ffa1" class="left_proximal" joint="left_ffj1"/>
-    <general name="left_ffa2" class="left_medial" joint="left_ffj2"/>
-    <general name="left_ffa3" class="left_distal" joint="left_ffj3"/>
-    <general name="left_tha0" class="left_thumb_base" joint="left_thj0"/>
-    <general name="left_tha1" class="left_thumb_proximal" joint="left_thj1"/>
-    <general name="left_tha2" class="left_thumb_medial" joint="left_thj2"/>
-    <general name="left_tha3" class="left_thumb_distal" joint="left_thj3"/>
+    <general name="left_rfa0" class="left_base" joint="left_ring_base_joint"/>
+    <general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint"/>
+    <general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint"/>
+    <general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint"/>
+    <general name="left_mfa0" class="left_base" joint="left_middle_base_joint"/>
+    <general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint"/>
+    <general name="left_mfa2" class="left_medial" joint="left_middle_medial_joint"/>
+    <general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint"/>
+    <general name="left_ffa0" class="left_base" joint="left_index_base_joint"/>
+    <general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint"/>
+    <general name="left_ffa2" class="left_medial" joint="left_index_medial_joint"/>
+    <general name="left_ffa3" class="left_distal" joint="left_index_distal_joint"/>
+    <general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint"/>
+    <general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint"/>
+    <general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint"/>
+    <general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/allegro/bimanual/uncap_alcohol_burner/scene_eq.xml b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/scene_eq.xml
index 3c478bda68e6c1d08f32bcb3477fc985a8dc1931..4b9c9c8f8d2f0d05489d19083c4ded510d59b562 100644
--- a/processed/oakink/allegro/bimanual/uncap_alcohol_burner/scene_eq.xml
+++ b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/scene_eq.xml
@@ -1,5 +1,5 @@
 <mujoco model="bimanual">
-  <compiler angle="radian" meshdir="/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/"/>
+  <compiler angle="radian" meshdir="../../../assets/"/>
 
   <option timestep="0.01" iterations="10">
     <flag eulerdamp="disable"/>
@@ -13,7 +13,7 @@
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
       <joint armature="1"/>
@@ -81,11 +81,11 @@
       </default>
       <default class="right_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base">
         <joint range="-0.47 0.47"/>
@@ -121,7 +121,7 @@
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
       <joint armature="1"/>
@@ -189,11 +189,11 @@
       </default>
       <default class="left_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base">
         <joint range="-0.47 0.47"/>
@@ -231,8 +231,8 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -272,12 +272,14 @@
     <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj"/>
     <mesh name="right_5" file="objects/O02@0206@00001/convex/5.obj"/>
-    <mesh name="right_6" file="objects/O02@0206@00001/convex/6.obj"/>
-    <mesh name="right_7" file="objects/O02@0206@00001/convex/7.obj"/>
     <mesh name="left_0" file="objects/O02@0206@00002/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0206@00002/convex/1.obj"/>
     <mesh name="left_2" file="objects/O02@0206@00002/convex/2.obj"/>
     <mesh name="left_3" file="objects/O02@0206@00002/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0206@00002/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0206@00002/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0206@00002/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0206@00002/convex/7.obj"/>
     <mesh name="right_visual" file="objects/O02@0206@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0206@00002/visual.obj"/>
   </asset>
@@ -295,112 +297,104 @@
       <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="right_palm_visual" mesh="right_base_link"/>
-      <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="right_ffj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_ff_proximal" pos="0 0 0.0164">
-          <joint name="right_ffj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_ff_medial" pos="0 0 0.054">
-            <joint name="right_ffj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_ff_distal" pos="0 0 0.0384">
-              <joint name="right_ffj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_index_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_mf_base" pos="0 0 0.0007">
-        <joint name="right_mfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_mf_proximal" pos="0 0 0.0164">
-          <joint name="right_mfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_mf_medial" pos="0 0 0.054">
-            <joint name="right_mfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_mf_distal" pos="0 0 0.0384">
-              <joint name="right_mfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_middle_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="right_rfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_rf_proximal" pos="0 0 0.0164">
-          <joint name="right_rfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_rf_medial" pos="0 0 0.054">
-            <joint name="right_rfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_rf_distal" pos="0 0 0.0384">
-              <joint name="right_rfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_ring_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
-        <joint name="right_thj0" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
+        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
         <geom class="right_visual" mesh="right_link_12.0_right"/>
-        <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
-          <joint name="right_thj1" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="right_visual" mesh="right_link_13.0"/>
-          <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="right_th_medial" pos="0 0 0.0177">
-            <joint name="right_thj2" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_visual" mesh="right_link_14.0"/>
-            <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="right_th_distal" pos="0 0 0.0514">
-              <joint name="right_thj3" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_visual" mesh="right_link_15.0"/>
-              <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
-                <geom name="right_thumb_collision" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -415,112 +409,104 @@
       <joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link"/>
-      <geom name="left_palm_collision" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_left_palm_0" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
-        <joint name="left_rfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_rf_proximal" pos="0 0 0.0164">
-          <joint name="left_rfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_rf_medial" pos="0 0 0.054">
-            <joint name="left_rfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_ring_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_rf_distal" pos="0 0 0.0384">
-              <joint name="left_rfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_ring_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_mf_base" pos="0 0 0.0007">
-        <joint name="left_mfj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_mf_proximal" pos="0 0 0.0164">
-          <joint name="left_mfj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_mf_medial" pos="0 0 0.054">
-            <joint name="left_mfj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_middle_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_mf_distal" pos="0 0 0.0384">
-              <joint name="left_mfj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_middle_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
-        <joint name="left_ffj0" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_ff_proximal" pos="0 0 0.0164">
-          <joint name="left_ffj1" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_index_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_ff_medial" pos="0 0 0.054">
-            <joint name="left_ffj2" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_index_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_ff_distal" pos="0 0 0.0384">
-              <joint name="left_ffj3" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_index_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
         </body>
       </body>
       <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
-        <joint name="left_thj0" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
+        <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
         <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
-        <geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
-          <joint name="left_thj1" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="left_visual" mesh="left_link_13.0"/>
-          <geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="left_th_medial" pos="0 0 0.0177">
-            <joint name="left_thj2" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_visual" mesh="left_link_14.0"/>
-            <geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="left_th_distal" pos="0 0 0.0514">
-              <joint name="left_thj3" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <geom class="left_visual" mesh="left_link_15.0"/>
-              <geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
-                <geom name="left_thumb_collision" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -528,21 +514,19 @@
       </body>
     </body>
     <body name="right_object">
-      <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
       <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
       <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
       <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
       <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
       <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
       <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0135767 0.0358624 0.00113103" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_right_thumb_tip" mocap="true">
@@ -570,17 +554,21 @@
       <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="left_object">
-      <joint name="left_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_7"/>
       <geom name="left_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
@@ -610,393 +598,517 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_0" name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_1" name="right_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_2" name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_3" name="right_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_4" name="right_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_5" name="right_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_6" name="right_palm_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_7" name="right_palm_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_0" name="right_palm_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_1" name="right_palm_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_2" name="right_palm_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_3" name="right_palm_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_0" name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_1" name="right_index_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_2" name="right_index_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_3" name="right_index_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_4" name="right_index_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_5" name="right_index_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_6" name="right_index_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_7" name="right_index_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_0" name="right_index_proximal_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_1" name="right_index_proximal_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_2" name="right_index_proximal_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_3" name="right_index_proximal_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_index_intermediate_collision" name="left_index_intermediate_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_0" name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_1" name="right_index_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_2" name="right_index_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_3" name="right_index_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_4" name="right_index_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_5" name="right_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_6" name="right_index_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_7" name="right_index_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_0" name="right_index_intermediate_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_1" name="right_index_intermediate_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_2" name="right_index_intermediate_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_3" name="right_index_intermediate_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_index_collision" name="left_index_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_0" name="right_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_1" name="right_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_2" name="right_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_3" name="right_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_4" name="right_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_5" name="right_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_6" name="right_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_7" name="right_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_0" name="right_index_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_1" name="right_index_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_2" name="right_index_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_3" name="right_index_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_0" name="right_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_1" name="right_middle_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_2" name="right_middle_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_3" name="right_middle_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_4" name="right_middle_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_5" name="right_middle_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_6" name="right_middle_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_7" name="right_middle_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_0" name="right_middle_proximal_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_1" name="right_middle_proximal_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_2" name="right_middle_proximal_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_3" name="right_middle_proximal_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_0" name="right_middle_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_1" name="right_middle_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_2" name="right_middle_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_3" name="right_middle_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_4" name="right_middle_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_5" name="right_middle_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_6" name="right_middle_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_7" name="right_middle_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_0" name="right_middle_intermediate_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_1" name="right_middle_intermediate_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_2" name="right_middle_intermediate_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="left_object_3" name="right_middle_intermediate_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_0" name="right_middle_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_1" name="right_middle_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_2" name="right_middle_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_3" name="right_middle_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_4" name="right_middle_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_5" name="right_middle_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_6" name="right_middle_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_7" name="right_middle_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_0" name="right_middle_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_1" name="right_middle_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_2" name="right_middle_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="left_object_3" name="right_middle_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_0" name="right_ring_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
+    <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" 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_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_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" 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="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" 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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" 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_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_index_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_1" name="collision_hand_right_index_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_0" name="collision_hand_right_index_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" 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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="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_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="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_3" name="collision_hand_right_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_4" name="collision_hand_right_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" 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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" 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_thumb_0" name="collision_hand_right_middle_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" 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="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" 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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" 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="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <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"/>
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+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
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+    <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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_4" name="collision_hand_left_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
@@ -1025,43 +1137,43 @@
     <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
     <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
     <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
-    <general name="right_ffa0" class="right_base" joint="right_ffj0"/>
-    <general name="right_ffa1" class="right_proximal" joint="right_ffj1"/>
-    <general name="right_ffa2" class="right_medial" joint="right_ffj2"/>
-    <general name="right_ffa3" class="right_distal" joint="right_ffj3"/>
-    <general name="right_mfa0" class="right_base" joint="right_mfj0"/>
-    <general name="right_mfa1" class="right_proximal" joint="right_mfj1"/>
-    <general name="right_mfa2" class="right_medial" joint="right_mfj2"/>
-    <general name="right_mfa3" class="right_distal" joint="right_mfj3"/>
-    <general name="right_rfa0" class="right_base" joint="right_rfj0"/>
-    <general name="right_rfa1" class="right_proximal" joint="right_rfj1"/>
-    <general name="right_rfa2" class="right_medial" joint="right_rfj2"/>
-    <general name="right_rfa3" class="right_distal" joint="right_rfj3"/>
-    <general name="right_tha0" class="right_thumb_base" joint="right_thj0"/>
-    <general name="right_tha1" class="right_thumb_proximal" joint="right_thj1"/>
-    <general name="right_tha2" class="right_thumb_medial" joint="right_thj2"/>
-    <general name="right_tha3" class="right_thumb_distal" joint="right_thj3"/>
+    <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
+    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
+    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
+    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
+    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
+    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
+    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
+    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
+    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
+    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
+    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
+    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
+    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
+    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
+    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
+    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
     <general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
     <general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
     <general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
     <general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
     <general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
     <general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
-    <general name="left_rfa0" class="left_base" joint="left_rfj0"/>
-    <general name="left_rfa1" class="left_proximal" joint="left_rfj1"/>
-    <general name="left_rfa2" class="left_medial" joint="left_rfj2"/>
-    <general name="left_rfa3" class="left_distal" joint="left_rfj3"/>
-    <general name="left_mfa0" class="left_base" joint="left_mfj0"/>
-    <general name="left_mfa1" class="left_proximal" joint="left_mfj1"/>
-    <general name="left_mfa2" class="left_medial" joint="left_mfj2"/>
-    <general name="left_mfa3" class="left_distal" joint="left_mfj3"/>
-    <general name="left_ffa0" class="left_base" joint="left_ffj0"/>
-    <general name="left_ffa1" class="left_proximal" joint="left_ffj1"/>
-    <general name="left_ffa2" class="left_medial" joint="left_ffj2"/>
-    <general name="left_ffa3" class="left_distal" joint="left_ffj3"/>
-    <general name="left_tha0" class="left_thumb_base" joint="left_thj0"/>
-    <general name="left_tha1" class="left_thumb_proximal" joint="left_thj1"/>
-    <general name="left_tha2" class="left_thumb_medial" joint="left_thj2"/>
-    <general name="left_tha3" class="left_thumb_distal" joint="left_thj3"/>
+    <general name="left_rfa0" class="left_base" joint="left_ring_base_joint"/>
+    <general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint"/>
+    <general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint"/>
+    <general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint"/>
+    <general name="left_mfa0" class="left_base" joint="left_middle_base_joint"/>
+    <general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint"/>
+    <general name="left_mfa2" class="left_medial" joint="left_middle_medial_joint"/>
+    <general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint"/>
+    <general name="left_ffa0" class="left_base" joint="left_index_base_joint"/>
+    <general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint"/>
+    <general name="left_ffa2" class="left_medial" joint="left_index_medial_joint"/>
+    <general name="left_ffa3" class="left_distal" joint="left_index_distal_joint"/>
+    <general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint"/>
+    <general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint"/>
+    <general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint"/>
+    <general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/allegro/bimanual/unplug/0/config.yaml b/processed/oakink/allegro/bimanual/unplug/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..86193703bf9c40251cf273dd8c789bd1af517029
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/0/config.yaml
@@ -0,0 +1,90 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: unplug
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/unplug/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/unplug/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 782
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+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: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 27
+- 41
+- 3
+- 6
+- 9
+- 12
+- 16
+- 19
+- 22
+- 25
+horizon_steps: 200
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 58
+nv: 56
+nu: 44
+npair: 652
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/unplug/0
diff --git a/processed/oakink/allegro/bimanual/unplug/0/trajectory_ikrollout.npz b/processed/oakink/allegro/bimanual/unplug/0/trajectory_ikrollout.npz
index fd1efb7f3650d2fb32db8fb30fdc0b8d0c03d46c..3769bc0b6abd22e983b89595fd9c1119e7345dda 100644
--- a/processed/oakink/allegro/bimanual/unplug/0/trajectory_ikrollout.npz
+++ b/processed/oakink/allegro/bimanual/unplug/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
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-size 52230
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+size 181686
diff --git a/processed/oakink/allegro/bimanual/unplug/0/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/unplug/0/trajectory_kinematic.npz
index 5e684d93fbd04ae09789a649a57ea2c5b87029d8..7cad3adf809b5f34328cc3d9bc119f61c70d0076 100644
--- a/processed/oakink/allegro/bimanual/unplug/0/trajectory_kinematic.npz
+++ b/processed/oakink/allegro/bimanual/unplug/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/allegro/bimanual/unplug/0/trajectory_mjwp.npz b/processed/oakink/allegro/bimanual/unplug/0/trajectory_mjwp.npz
index ebb73b17d96e36b18e17d3a88f77c4ace82cf725..664001d7164beaf74f5d8f5ec55789742de9f7a4 100644
--- a/processed/oakink/allegro/bimanual/unplug/0/trajectory_mjwp.npz
+++ b/processed/oakink/allegro/bimanual/unplug/0/trajectory_mjwp.npz
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/allegro/bimanual/unplug/0/visualization_ik.mp4 b/processed/oakink/allegro/bimanual/unplug/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1a81746c58e9de7dcce75c6a61bf4158a004c45f
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
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index 5d016922b72c20707969ddd096d00c2594737d97..4dcf60857f69bb236f375b377bda3318e3c27681 100644
--- a/processed/oakink/allegro/bimanual/unplug/0/visualization_mjwp.mp4
+++ b/processed/oakink/allegro/bimanual/unplug/0/visualization_mjwp.mp4
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/allegro/bimanual/unplug/1/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/unplug/1/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7cad3adf809b5f34328cc3d9bc119f61c70d0076
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diff --git a/processed/oakink/allegro/bimanual/unplug/1/visualization_mjwp.mp4 b/processed/oakink/allegro/bimanual/unplug/1/visualization_mjwp.mp4
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diff --git a/processed/oakink/allegro/bimanual/unplug/2/config.yaml b/processed/oakink/allegro/bimanual/unplug/2/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..dec7bc9158600500dbd6394ded53ff62f1ccf74e
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/2/config.yaml
@@ -0,0 +1,90 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: unplug
+seed: 2
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 2
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/unplug/2/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/unplug/2/trajectory_kinematic.npz
+simulator: mjwp
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+sim_dt: 0.01
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+nconmax_per_env: 100
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+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
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+- -0.005
+- 0.005
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+perturb_torque: 0.0
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
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+save_config: true
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+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/unplug/2
diff --git a/processed/oakink/allegro/bimanual/unplug/2/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/unplug/2/trajectory_kinematic.npz
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diff --git a/processed/oakink/allegro/bimanual/unplug/3/config.yaml b/processed/oakink/allegro/bimanual/unplug/3/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c569f6c22099afeff6f8aebee1ba992a700c70e6
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/3/config.yaml
@@ -0,0 +1,90 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: unplug
+seed: 3
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 3
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/unplug/3/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/unplug/3/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
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+render_dt: 0.02
+horizon: 2.0
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+max_sim_steps: 782
+nconmax_per_env: 100
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
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+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
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+object_pos_threshold: 0.1
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+base_rot_threshold: 0.4
+use_torch_compile: true
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+show_viewer: true
+viewer: ''
+rerun_spawn: true
+save_video: true
+save_info: true
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+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 27
+- 41
+- 3
+- 6
+- 9
+- 12
+- 16
+- 19
+- 22
+- 25
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+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 58
+nv: 56
+nu: 44
+npair: 652
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/unplug/3
diff --git a/processed/oakink/allegro/bimanual/unplug/3/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/unplug/3/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7cad3adf809b5f34328cc3d9bc119f61c70d0076
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/3/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74560a795e11e07f767e178aae1801852d277ddb6962f9355678bddf28e86647
+size 740748
diff --git a/processed/oakink/allegro/bimanual/unplug/3/trajectory_mjwp.npz b/processed/oakink/allegro/bimanual/unplug/3/trajectory_mjwp.npz
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index 0000000000000000000000000000000000000000..2971ab597f809d35c9f883f73e9dd9d65636f9d4
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/3/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffde700cfe856b007fc9f92b1decb01f86f0cc719b7e7f8a5e4e1e060b47f899
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diff --git a/processed/oakink/allegro/bimanual/unplug/3/visualization_mjwp.mp4 b/processed/oakink/allegro/bimanual/unplug/3/visualization_mjwp.mp4
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/3/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 936197
diff --git a/processed/oakink/allegro/bimanual/unplug/4/config.yaml b/processed/oakink/allegro/bimanual/unplug/4/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..dfc529fd2a95ada50ae8393105394f2c45035184
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/4/config.yaml
@@ -0,0 +1,90 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: unplug
+seed: 4
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/unplug/4/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/unplug/4/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 782
+nconmax_per_env: 100
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
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+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
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+base_rot_threshold: 0.4
+use_torch_compile: true
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+last_ctrl_noise_scale: 1.0
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+exploit_ratio: 0.01
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+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 27
+- 41
+- 3
+- 6
+- 9
+- 12
+- 16
+- 19
+- 22
+- 25
+horizon_steps: 200
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 58
+nv: 56
+nu: 44
+npair: 652
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/unplug/4
diff --git a/processed/oakink/allegro/bimanual/unplug/4/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/unplug/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7cad3adf809b5f34328cc3d9bc119f61c70d0076
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74560a795e11e07f767e178aae1801852d277ddb6962f9355678bddf28e86647
+size 740748
diff --git a/processed/oakink/allegro/bimanual/unplug/4/trajectory_mjwp.npz b/processed/oakink/allegro/bimanual/unplug/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..99045fbff9ac55cb9b27fc711184c26c01f0f32b
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b5a82d4afb9eb85d15fa22a765746a67edbdc80b5859185e2305c9a79a3aac7
+size 1078142
diff --git a/processed/oakink/allegro/bimanual/unplug/4/visualization_mjwp.mp4 b/processed/oakink/allegro/bimanual/unplug/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..45d8bcbeecfc03865d8b0a423add206136b3887e
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86551295d03d17b65fe4975cab0c6303d54b2301ee0d23ff9328ed0dfb24edba
+size 951431
diff --git a/processed/oakink/allegro/bimanual/unplug/scene.xml b/processed/oakink/allegro/bimanual/unplug/scene.xml
index 890cfb6848573bb39896c64fcf3380ed0017a945..5a7a2e71491b0fe4d009bf3984901e4f23f089d4 100644
--- a/processed/oakink/allegro/bimanual/unplug/scene.xml
+++ b/processed/oakink/allegro/bimanual/unplug/scene.xml
@@ -13,7 +13,7 @@
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
       <joint armature="1"/>
@@ -81,11 +81,11 @@
       </default>
       <default class="right_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base">
         <joint range="-0.47 0.47"/>
@@ -121,7 +121,7 @@
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
       <joint armature="1"/>
@@ -189,11 +189,11 @@
       </default>
       <default class="left_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base">
         <joint range="-0.47 0.47"/>
@@ -231,12 +231,12 @@
   </default>
 
   <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" name="right_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="300"/>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" name="left_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="300"/>
-    <texture type="cube" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="cube" 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"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_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="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_black" rgba="0.2 0.2 0.2 1"/>
     <material name="right_white" rgba="0.9 0.9 0.9 1"/>
     <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
@@ -274,6 +274,7 @@
     <mesh name="right_5" file="objects/O02@0047@00002/convex/5.obj"/>
     <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
     <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0047@00002/convex/8.obj"/>
     <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
     <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
@@ -282,6 +283,7 @@
     <mesh name="left_5" file="objects/O02@0047@00001/convex/5.obj"/>
     <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
     <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/O02@0047@00001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
   </asset>
@@ -299,31 +301,29 @@
       <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="right_palm_visual" mesh="right_base_link"/>
-      <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
         <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_ff_proximal" pos="0 0 0.0164">
           <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_ff_medial" pos="0 0 0.054">
             <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_ff_distal" pos="0 0 0.0384">
               <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_index_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -332,25 +332,23 @@
       <body name="right_mf_base" pos="0 0 0.0007">
         <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_mf_proximal" pos="0 0 0.0164">
           <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_mf_medial" pos="0 0 0.054">
             <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_mf_distal" pos="0 0 0.0384">
               <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_middle_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -359,25 +357,23 @@
       <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
         <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_rf_proximal" pos="0 0 0.0164">
           <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_rf_medial" pos="0 0 0.054">
             <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_rf_distal" pos="0 0 0.0384">
               <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_ring_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -386,25 +382,23 @@
       <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
         <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
         <geom class="right_visual" mesh="right_link_12.0_right"/>
-        <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
           <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="right_visual" mesh="right_link_13.0"/>
-          <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="right_th_medial" pos="0 0 0.0177">
             <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_visual" mesh="right_link_14.0"/>
-            <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="right_th_distal" pos="0 0 0.0514">
               <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_visual" mesh="right_link_15.0"/>
-              <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
-                <geom name="right_thumb_collision" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -419,31 +413,29 @@
       <joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link"/>
-      <geom name="left_palm_collision" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_left_palm_0" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
         <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_rf_proximal" pos="0 0 0.0164">
           <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_rf_medial" pos="0 0 0.054">
             <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_ring_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_rf_distal" pos="0 0 0.0384">
               <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_ring_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -452,25 +444,23 @@
       <body name="left_mf_base" pos="0 0 0.0007">
         <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_mf_proximal" pos="0 0 0.0164">
           <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_mf_medial" pos="0 0 0.054">
             <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_middle_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_mf_distal" pos="0 0 0.0384">
               <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_middle_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -479,25 +469,23 @@
       <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
         <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_ff_proximal" pos="0 0 0.0164">
           <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_index_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_ff_medial" pos="0 0 0.054">
             <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_index_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_ff_distal" pos="0 0 0.0384">
               <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_index_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -506,25 +494,23 @@
       <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
         <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
         <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
-        <geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
           <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="left_visual" mesh="left_link_13.0"/>
-          <geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="left_th_medial" pos="0 0 0.0177">
             <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_visual" mesh="left_link_14.0"/>
-            <geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="left_th_distal" pos="0 0 0.0514">
               <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <geom class="left_visual" mesh="left_link_15.0"/>
-              <geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
-                <geom name="left_thumb_collision" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -532,20 +518,21 @@
       </body>
     </body>
     <body name="right_object">
-      <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_8"/>
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00980974 0.00883008 0.00582814" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
@@ -574,21 +561,22 @@
       <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="left_object">
-      <joint name="left_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
@@ -618,570 +606,658 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="floor" name="floor_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_palm_collision" name="right_palm_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_index_proximal_collision" name="right_index_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_index_intermediate_collision" name="right_index_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_index_collision" name="right_index_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_middle_proximal_collision" name="right_middle_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_middle_intermediate_collision" name="right_middle_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_middle_collision" name="right_middle_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_ring_proximal_collision" name="right_ring_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_ring_intermediate_collision" name="right_ring_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_ring_collision" name="right_ring_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_thumb_proximal_collision" name="right_thumb_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_thumb_intermediate_collision" name="right_thumb_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_thumb_distal_collision" name="right_thumb_distal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_thumb_collision" name="right_thumb_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_palm_collision" name="left_palm_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_ring_base_collision" name="left_ring_base_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_ring_intermediate_collision" name="left_ring_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_ring_collision" name="left_ring_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_middle_proximal_collision" name="left_middle_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_middle_intermediate_collision" name="left_middle_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_middle_collision" name="left_middle_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_index_proximal_collision" name="left_index_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_index_intermediate_collision" name="left_index_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_index_collision" name="left_index_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_thumb_proximal_collision" name="left_thumb_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_thumb_intermediate_collision" name="left_thumb_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_thumb_distal_collision" name="left_thumb_distal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_thumb_collision" name="left_thumb_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_0" name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_1" name="right_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_2" name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_3" name="right_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_4" name="right_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_5" name="right_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_6" name="right_palm_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_7" name="right_palm_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_0" name="right_palm_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_1" name="right_palm_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_2" name="right_palm_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_3" name="right_palm_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_4" name="right_palm_collision_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_5" name="right_palm_collision_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_6" name="right_palm_collision_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="left_object_7" name="right_palm_collision_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_0" name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_1" name="right_index_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_2" name="right_index_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_3" name="right_index_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_4" name="right_index_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_5" name="right_index_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_6" name="right_index_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_7" name="right_index_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_0" name="right_index_proximal_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_1" name="right_index_proximal_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_2" name="right_index_proximal_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_3" name="right_index_proximal_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_4" name="right_index_proximal_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_5" name="right_index_proximal_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_6" name="right_index_proximal_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="left_object_7" name="right_index_proximal_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_index_intermediate_collision" name="left_index_intermediate_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_0" name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_1" name="right_index_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_2" name="right_index_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_3" name="right_index_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_4" name="right_index_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_5" name="right_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_6" name="right_index_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_7" name="right_index_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_0" name="right_index_intermediate_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_1" name="right_index_intermediate_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_2" name="right_index_intermediate_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_3" name="right_index_intermediate_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_4" name="right_index_intermediate_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_5" name="right_index_intermediate_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_6" name="right_index_intermediate_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="left_object_7" name="right_index_intermediate_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_index_collision" name="left_index_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_0" name="right_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_1" name="right_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_2" name="right_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_3" name="right_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_4" name="right_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_5" name="right_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_6" name="right_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_7" name="right_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_0" name="right_index_collision_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_1" name="right_index_collision_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_2" name="right_index_collision_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_3" name="right_index_collision_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_4" name="right_index_collision_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_5" name="right_index_collision_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_6" name="right_index_collision_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="left_object_7" name="right_index_collision_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_0" name="right_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_1" name="right_middle_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_2" name="right_middle_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_3" name="right_middle_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_4" name="right_middle_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_5" name="right_middle_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_6" name="right_middle_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_7" name="right_middle_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_0" name="right_middle_proximal_collision_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_1" name="right_middle_proximal_collision_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_2" name="right_middle_proximal_collision_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_3" name="right_middle_proximal_collision_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_4" name="right_middle_proximal_collision_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="left_object_5" name="right_middle_proximal_collision_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
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-    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
+    <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" 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_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_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_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_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_8" name="collision_hand_right_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" 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_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_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_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_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_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" 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_middle_2" geom2="left_object_8" name="collision_hand_right_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_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_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_8" name="collision_hand_right_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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+    <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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_8" name="collision_hand_left_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_4" name="collision_hand_left_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_8" name="collision_hand_left_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_left_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/oakink/allegro/bimanual/unplug/scene_eq.xml b/processed/oakink/allegro/bimanual/unplug/scene_eq.xml
index 31ab1005c8e58f421765e4c5c95c0c707ce40004..cc60d024359115530a77897cddc97ecc009dd851 100644
--- a/processed/oakink/allegro/bimanual/unplug/scene_eq.xml
+++ b/processed/oakink/allegro/bimanual/unplug/scene_eq.xml
@@ -13,7 +13,7 @@
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
       <joint armature="1"/>
@@ -81,11 +81,11 @@
       </default>
       <default class="right_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base">
         <joint range="-0.47 0.47"/>
@@ -121,7 +121,7 @@
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
       <joint armature="1"/>
@@ -189,11 +189,11 @@
       </default>
       <default class="left_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base">
         <joint range="-0.47 0.47"/>
@@ -231,8 +231,8 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -274,6 +274,7 @@
     <mesh name="right_5" file="objects/O02@0047@00002/convex/5.obj"/>
     <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
     <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0047@00002/convex/8.obj"/>
     <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
     <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
@@ -282,6 +283,7 @@
     <mesh name="left_5" file="objects/O02@0047@00001/convex/5.obj"/>
     <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
     <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/O02@0047@00001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
   </asset>
@@ -299,31 +301,29 @@
       <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="right_palm_visual" mesh="right_base_link"/>
-      <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
         <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_ff_proximal" pos="0 0 0.0164">
           <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_ff_medial" pos="0 0 0.054">
             <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_ff_distal" pos="0 0 0.0384">
               <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_index_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -332,25 +332,23 @@
       <body name="right_mf_base" pos="0 0 0.0007">
         <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_mf_proximal" pos="0 0 0.0164">
           <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_mf_medial" pos="0 0 0.054">
             <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_mf_distal" pos="0 0 0.0384">
               <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_middle_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -359,25 +357,23 @@
       <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
         <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_rf_proximal" pos="0 0 0.0164">
           <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_rf_medial" pos="0 0 0.054">
             <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_rf_distal" pos="0 0 0.0384">
               <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
-                <geom name="right_ring_collision" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -386,25 +382,23 @@
       <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
         <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
         <geom class="right_visual" mesh="right_link_12.0_right"/>
-        <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
           <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="right_visual" mesh="right_link_13.0"/>
-          <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="right_th_medial" pos="0 0 0.0177">
             <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_visual" mesh="right_link_14.0"/>
-            <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="right_th_distal" pos="0 0 0.0514">
               <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_visual" mesh="right_link_15.0"/>
-              <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
-                <geom name="right_thumb_collision" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -419,31 +413,29 @@
       <joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link"/>
-      <geom name="left_palm_collision" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_left_palm_0" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
       <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
         <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_rf_proximal" pos="0 0 0.0164">
           <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_rf_medial" pos="0 0 0.054">
             <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_ring_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_rf_distal" pos="0 0 0.0384">
               <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_ring_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -452,25 +444,23 @@
       <body name="left_mf_base" pos="0 0 0.0007">
         <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_mf_proximal" pos="0 0 0.0164">
           <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_mf_medial" pos="0 0 0.054">
             <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_middle_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_mf_distal" pos="0 0 0.0384">
               <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_middle_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -479,25 +469,23 @@
       <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
         <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="left_base_visual" mesh="left_link_0.0"/>
-        <geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="left_ff_proximal" pos="0 0 0.0164">
           <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="left_proximal_visual" mesh="left_link_1.0"/>
-          <geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_left_index_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="left_ff_medial" pos="0 0 0.054">
             <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_medial_visual" mesh="left_link_2.0"/>
-            <geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_left_index_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="left_ff_distal" pos="0 0 0.0384">
               <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="left_distal_visual" mesh="left_link_3.0"/>
-              <geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
-                <geom name="left_index_collision" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -506,25 +494,23 @@
       <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
         <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
         <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
-        <geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
           <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="left_visual" mesh="left_link_13.0"/>
-          <geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="left_th_medial" pos="0 0 0.0177">
             <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="left_visual" mesh="left_link_14.0"/>
-            <geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="left_th_distal" pos="0 0 0.0514">
               <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <geom class="left_visual" mesh="left_link_15.0"/>
-              <geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
-                <geom name="left_thumb_collision" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -532,20 +518,21 @@
       </body>
     </body>
     <body name="right_object">
-      <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_8"/>
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00980974 0.00883008 0.00582814" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
@@ -574,21 +561,22 @@
       <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="left_object">
-      <joint name="left_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" size="0.01" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
@@ -618,570 +606,658 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="floor" name="floor_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_palm_collision" name="right_palm_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_index_proximal_collision" name="right_index_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_index_intermediate_collision" name="right_index_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_index_collision" name="right_index_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_middle_proximal_collision" name="right_middle_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_middle_intermediate_collision" name="right_middle_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_middle_collision" name="right_middle_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_ring_proximal_collision" name="right_ring_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_ring_intermediate_collision" name="right_ring_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_ring_collision" name="right_ring_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_thumb_proximal_collision" name="right_thumb_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_thumb_intermediate_collision" name="right_thumb_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_thumb_distal_collision" name="right_thumb_distal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_thumb_collision" name="right_thumb_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_palm_collision" name="left_palm_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_ring_base_collision" name="left_ring_base_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_ring_intermediate_collision" name="left_ring_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_ring_collision" name="left_ring_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_middle_proximal_collision" name="left_middle_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_middle_intermediate_collision" name="left_middle_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_middle_collision" name="left_middle_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_index_proximal_collision" name="left_index_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
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+    <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" 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"/>
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+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
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+    <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_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_8" name="collision_hand_right_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_index_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_1" name="collision_hand_right_index_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_0" name="collision_hand_right_index_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" 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_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"/>
+    <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="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_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="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_3" name="collision_hand_right_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_4" name="collision_hand_right_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_8" name="collision_hand_right_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_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_thumb_0" name="collision_hand_right_middle_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_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_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_8" name="collision_hand_right_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
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+    <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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
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--- /dev/null
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index 0000000000000000000000000000000000000000..dc03d304738f791e6016bde778c981a450a8991c
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/wipe_board/3/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f927fa6d75af3184d657f340ce4f06173b9a8294d4c37179e619adf70128c9e7
+size 646348
diff --git a/processed/oakink/allegro/bimanual/wipe_board/3/trajectory_mjwp.npz b/processed/oakink/allegro/bimanual/wipe_board/3/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ee6cd85618e093ed095552face9c0b158046c69a
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/wipe_board/3/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecbdd7890d3a7aa4691d1811ccc4bd402c8ebcf2dd517066ca048d5a98c7a73c
+size 970990
diff --git a/processed/oakink/allegro/bimanual/wipe_board/3/visualization_mjwp.mp4 b/processed/oakink/allegro/bimanual/wipe_board/3/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..09114a41b3a34b443eb80dc4d5d1b0aac18affbb
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/wipe_board/3/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e210cb35fac32e7ecb8df4a1e83bb3b27d6de25cc0149fd941a436f6a337317a
+size 1132118
diff --git a/processed/oakink/allegro/bimanual/wipe_board/4/config.yaml b/processed/oakink/allegro/bimanual/wipe_board/4/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bad3b0a75dccb5b3b1772b47a6337d71d4199466
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/wipe_board/4/config.yaml
@@ -0,0 +1,90 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: wipe_board
+seed: 1
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/wipe_board/4/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/wipe_board/4/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 682
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+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: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 27
+- 41
+- 3
+- 6
+- 9
+- 12
+- 16
+- 19
+- 22
+- 25
+horizon_steps: 200
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 58
+nv: 56
+nu: 44
+npair: 1001
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/wipe_board/4
diff --git a/processed/oakink/allegro/bimanual/wipe_board/4/trajectory_kinematic.npz b/processed/oakink/allegro/bimanual/wipe_board/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dc03d304738f791e6016bde778c981a450a8991c
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/wipe_board/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f927fa6d75af3184d657f340ce4f06173b9a8294d4c37179e619adf70128c9e7
+size 646348
diff --git a/processed/oakink/allegro/bimanual/wipe_board/4/trajectory_mjwp.npz b/processed/oakink/allegro/bimanual/wipe_board/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a25402de1b41e61eca423c297d974b7bae5dbf02
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/wipe_board/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a04aef41c223c950a9a3554648716cceb83cc8cfe1a214fd43fe140eaf3889fd
+size 970990
diff --git a/processed/oakink/allegro/bimanual/wipe_board/4/visualization_mjwp.mp4 b/processed/oakink/allegro/bimanual/wipe_board/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ddd541f1290b1eba06a89bdb1c6df18c0147ad2
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/wipe_board/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb18cbf1be384bcbe75849f4099e2160c9775c01c8b65ee26964fff4b7d0489a
+size 1122896
diff --git a/processed/oakink/allegro/bimanual/wipe_board/scene.xml b/processed/oakink/allegro/bimanual/wipe_board/scene.xml
index b1cfe346fdd20250636ebd6188ac2fc90f484e89..4f7e6e5553dfac721191e03a6ee1ef94f025a64e 100644
--- a/processed/oakink/allegro/bimanual/wipe_board/scene.xml
+++ b/processed/oakink/allegro/bimanual/wipe_board/scene.xml
@@ -13,7 +13,7 @@
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
       <joint armature="1"/>
@@ -81,11 +81,11 @@
       </default>
       <default class="right_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base">
         <joint range="-0.47 0.47"/>
@@ -121,7 +121,7 @@
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
       <joint armature="1"/>
@@ -189,11 +189,11 @@
       </default>
       <default class="left_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base">
         <joint range="-0.47 0.47"/>
@@ -231,12 +231,12 @@
   </default>
 
   <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" name="right_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="300"/>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" name="left_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="300"/>
-    <texture type="cube" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="cube" 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"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_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="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_black" rgba="0.2 0.2 0.2 1"/>
     <material name="right_white" rgba="0.9 0.9 0.9 1"/>
     <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
@@ -267,14 +267,33 @@
     <mesh name="left_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
     <mesh name="left_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
     <mesh name="right_0" file="objects/O02@0055@00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0055@00002/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0055@00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0055@00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0055@00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0055@00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0055@00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0055@00002/convex/7.obj"/>
     <mesh name="left_0" file="objects/O02@0054@00001/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0054@00001/convex/1.obj"/>
+    <mesh name="left_10" file="objects/O02@0054@00001/convex/10.obj"/>
+    <mesh name="left_11" file="objects/O02@0054@00001/convex/11.obj"/>
+    <mesh name="left_12" file="objects/O02@0054@00001/convex/12.obj"/>
+    <mesh name="left_13" file="objects/O02@0054@00001/convex/13.obj"/>
+    <mesh name="left_14" file="objects/O02@0054@00001/convex/14.obj"/>
+    <mesh name="left_15" file="objects/O02@0054@00001/convex/15.obj"/>
+    <mesh name="left_16" file="objects/O02@0054@00001/convex/16.obj"/>
+    <mesh name="left_17" file="objects/O02@0054@00001/convex/17.obj"/>
+    <mesh name="left_18" file="objects/O02@0054@00001/convex/18.obj"/>
+    <mesh name="left_19" file="objects/O02@0054@00001/convex/19.obj"/>
     <mesh name="left_2" file="objects/O02@0054@00001/convex/2.obj"/>
     <mesh name="left_3" file="objects/O02@0054@00001/convex/3.obj"/>
     <mesh name="left_4" file="objects/O02@0054@00001/convex/4.obj"/>
     <mesh name="left_5" file="objects/O02@0054@00001/convex/5.obj"/>
     <mesh name="left_6" file="objects/O02@0054@00001/convex/6.obj"/>
     <mesh name="left_7" file="objects/O02@0054@00001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/O02@0054@00001/convex/8.obj"/>
+    <mesh name="left_9" file="objects/O02@0054@00001/convex/9.obj"/>
     <mesh name="right_visual" file="objects/O02@0055@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0054@00001/visual.obj"/>
   </asset>
@@ -312,9 +331,9 @@
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -337,9 +356,9 @@
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -362,9 +381,9 @@
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -387,9 +406,9 @@
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
                 <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -424,9 +443,9 @@
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -449,9 +468,9 @@
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -474,9 +493,9 @@
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -499,9 +518,9 @@
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
                 <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -509,8 +528,15 @@
       </body>
     </body>
     <body name="right_object">
-      <joint name="right_object_joint" type="free" armature="0.001" frictionloss="0.0001"/>
-      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
@@ -544,15 +570,27 @@
       <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="left_object">
-      <joint name="left_object_joint" type="free" armature="0.001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_10" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_10"/>
+      <geom name="left_object_11" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_11"/>
+      <geom name="left_object_12" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_12"/>
+      <geom name="left_object_13" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_13"/>
+      <geom name="left_object_14" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_14"/>
+      <geom name="left_object_15" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_15"/>
+      <geom name="left_object_16" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_16"/>
+      <geom name="left_object_17" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_17"/>
+      <geom name="left_object_18" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_18"/>
+      <geom name="left_object_19" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_19"/>
+      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_8"/>
+      <geom name="left_object_9" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_9"/>
       <geom name="left_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
@@ -588,342 +626,1007 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_index_0_collision_hand_left_ring_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_index_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_1" name="collision_hand_right_index_0_collision_hand_left_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_0" name="collision_hand_right_index_0_collision_hand_left_index_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="left_object_0" name="collision_hand_right_middle_2_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="left_object_3" name="collision_hand_right_middle_2_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="left_object_4" name="collision_hand_right_middle_2_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
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-    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
+    <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_10" name="floor_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_11" name="floor_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_12" name="floor_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_13" name="floor_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_14" name="floor_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_15" name="floor_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_16" name="floor_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_17" name="floor_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_18" name="floor_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_19" name="floor_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_9" name="floor_left_object_9" 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_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_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_10" name="collision_hand_right_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_11" name="collision_hand_right_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_12" name="collision_hand_right_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_13" name="collision_hand_right_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_14" name="collision_hand_right_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_15" name="collision_hand_right_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_16" name="collision_hand_right_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_17" name="collision_hand_right_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_18" name="collision_hand_right_palm_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_19" name="collision_hand_right_palm_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_9" name="collision_hand_right_palm_0_left_object_9" 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="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_10" name="collision_hand_right_index_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_11" name="collision_hand_right_index_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_12" name="collision_hand_right_index_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_13" name="collision_hand_right_index_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_14" name="collision_hand_right_index_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_15" name="collision_hand_right_index_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_16" name="collision_hand_right_index_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_17" name="collision_hand_right_index_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_18" name="collision_hand_right_index_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_19" name="collision_hand_right_index_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_8" name="collision_hand_right_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_9" name="collision_hand_right_index_2_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_10" name="collision_hand_right_index_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_11" name="collision_hand_right_index_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_12" name="collision_hand_right_index_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_13" name="collision_hand_right_index_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_14" name="collision_hand_right_index_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_15" name="collision_hand_right_index_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_16" name="collision_hand_right_index_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_17" name="collision_hand_right_index_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_18" name="collision_hand_right_index_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_19" name="collision_hand_right_index_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_14" name="collision_hand_right_middle_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_15" name="collision_hand_right_middle_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_16" name="collision_hand_right_middle_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_17" name="collision_hand_right_middle_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_18" name="collision_hand_right_middle_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_19" name="collision_hand_right_middle_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_9" name="collision_hand_right_middle_0_left_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_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="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_10" name="collision_hand_right_ring_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_11" name="collision_hand_right_ring_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_12" name="collision_hand_right_ring_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_13" name="collision_hand_right_ring_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_14" name="collision_hand_right_ring_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_15" name="collision_hand_right_ring_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_16" name="collision_hand_right_ring_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_17" name="collision_hand_right_ring_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_18" name="collision_hand_right_ring_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_19" name="collision_hand_right_ring_2_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_8" name="collision_hand_right_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_9" name="collision_hand_right_ring_2_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_10" name="collision_hand_right_ring_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_11" name="collision_hand_right_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_12" name="collision_hand_right_ring_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_13" name="collision_hand_right_ring_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_14" name="collision_hand_right_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_15" name="collision_hand_right_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_16" name="collision_hand_right_ring_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_17" name="collision_hand_right_ring_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_18" name="collision_hand_right_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_19" name="collision_hand_right_ring_1_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_9" name="collision_hand_right_ring_1_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_10" name="collision_hand_right_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_11" name="collision_hand_right_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_12" name="collision_hand_right_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_13" name="collision_hand_right_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_14" name="collision_hand_right_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_15" name="collision_hand_right_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_16" name="collision_hand_right_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_17" name="collision_hand_right_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_18" name="collision_hand_right_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_19" name="collision_hand_right_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_9" name="collision_hand_right_ring_0_left_object_9" 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="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_10" name="collision_hand_right_thumb_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_11" name="collision_hand_right_thumb_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_12" name="collision_hand_right_thumb_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_13" name="collision_hand_right_thumb_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_14" name="collision_hand_right_thumb_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_15" name="collision_hand_right_thumb_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_16" name="collision_hand_right_thumb_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_17" name="collision_hand_right_thumb_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_18" name="collision_hand_right_thumb_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_19" name="collision_hand_right_thumb_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_9" name="collision_hand_right_thumb_1_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_9" name="collision_hand_left_palm_0_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_10" name="collision_hand_left_ring_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_11" name="collision_hand_left_ring_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_12" name="collision_hand_left_ring_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_13" name="collision_hand_left_ring_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_14" name="collision_hand_left_ring_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_15" name="collision_hand_left_ring_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_16" name="collision_hand_left_ring_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_17" name="collision_hand_left_ring_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_18" name="collision_hand_left_ring_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_19" name="collision_hand_left_ring_2_left_object_19" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_10" name="collision_hand_left_ring_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_11" name="collision_hand_left_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_12" name="collision_hand_left_ring_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_13" name="collision_hand_left_ring_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_14" name="collision_hand_left_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_15" name="collision_hand_left_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_16" name="collision_hand_left_ring_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_17" name="collision_hand_left_ring_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_18" name="collision_hand_left_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_19" name="collision_hand_left_ring_1_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_9" name="collision_hand_left_ring_1_left_object_9" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_10" name="collision_hand_left_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_11" name="collision_hand_left_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_12" name="collision_hand_left_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_13" name="collision_hand_left_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_14" name="collision_hand_left_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_15" name="collision_hand_left_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_16" name="collision_hand_left_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_17" name="collision_hand_left_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_18" name="collision_hand_left_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_19" name="collision_hand_left_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_9" name="collision_hand_left_ring_0_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_10" name="collision_hand_left_middle_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_11" name="collision_hand_left_middle_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_12" name="collision_hand_left_middle_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_13" name="collision_hand_left_middle_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_14" name="collision_hand_left_middle_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_15" name="collision_hand_left_middle_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_16" name="collision_hand_left_middle_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_17" name="collision_hand_left_middle_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_18" name="collision_hand_left_middle_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_19" name="collision_hand_left_middle_2_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_4" name="collision_hand_left_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_8" name="collision_hand_left_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_9" name="collision_hand_left_middle_2_left_object_9" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_10" name="collision_hand_left_middle_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_11" name="collision_hand_left_middle_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_12" name="collision_hand_left_middle_1_left_object_12" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_15" name="collision_hand_left_middle_1_left_object_15" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_17" name="collision_hand_left_middle_1_left_object_17" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_19" name="collision_hand_left_middle_1_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_9" name="collision_hand_left_middle_1_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_left_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_10" name="collision_hand_left_middle_0_left_object_10" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_10" name="collision_hand_left_thumb_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_11" name="collision_hand_left_thumb_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_12" name="collision_hand_left_thumb_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_13" name="collision_hand_left_thumb_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_14" name="collision_hand_left_thumb_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_15" name="collision_hand_left_thumb_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_16" name="collision_hand_left_thumb_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_17" name="collision_hand_left_thumb_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_18" name="collision_hand_left_thumb_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_19" name="collision_hand_left_thumb_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_9" name="collision_hand_left_thumb_1_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_10" name="collision_hand_left_thumb_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_11" name="collision_hand_left_thumb_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_12" name="collision_hand_left_thumb_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_13" name="collision_hand_left_thumb_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_14" name="collision_hand_left_thumb_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_15" name="collision_hand_left_thumb_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_16" name="collision_hand_left_thumb_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_17" name="collision_hand_left_thumb_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_18" name="collision_hand_left_thumb_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_19" name="collision_hand_left_thumb_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_9" name="collision_hand_left_thumb_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="right_object_0" geom2="left_object_17" name="right_object_0_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_18" name="right_object_0_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_9" name="right_object_0_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_1" geom2="left_object_12" name="right_object_1_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_1" geom2="left_object_14" name="right_object_1_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_15" name="right_object_1_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_1" geom2="left_object_19" name="right_object_1_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_9" name="right_object_1_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_9" name="right_object_2_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_9" name="right_object_3_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_4" geom2="left_object_14" name="right_object_4_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_15" name="right_object_4_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_16" name="right_object_4_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_17" name="right_object_4_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_18" name="right_object_4_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_19" name="right_object_4_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_9" name="right_object_4_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_10" name="right_object_5_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_11" name="right_object_5_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_12" name="right_object_5_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_13" name="right_object_5_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_14" name="right_object_5_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_15" name="right_object_5_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_16" name="right_object_5_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_17" name="right_object_5_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_18" name="right_object_5_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_19" name="right_object_5_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_9" name="right_object_5_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_10" name="right_object_6_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_11" name="right_object_6_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_12" name="right_object_6_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_13" name="right_object_6_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_14" name="right_object_6_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_15" name="right_object_6_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_16" name="right_object_6_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_17" name="right_object_6_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_18" name="right_object_6_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_19" name="right_object_6_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_9" name="right_object_6_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_10" name="right_object_7_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_11" name="right_object_7_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_12" name="right_object_7_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_13" name="right_object_7_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_14" name="right_object_7_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_15" name="right_object_7_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_16" name="right_object_7_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_17" name="right_object_7_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_18" name="right_object_7_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_19" name="right_object_7_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_9" name="right_object_7_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/oakink/allegro/bimanual/wipe_board/scene_eq.xml b/processed/oakink/allegro/bimanual/wipe_board/scene_eq.xml
index aa70614440d3719e9dbe8c2324c1c44038f4bfe4..d48070762d6a350b16c7f0189fb0428af50fd6d2 100644
--- a/processed/oakink/allegro/bimanual/wipe_board/scene_eq.xml
+++ b/processed/oakink/allegro/bimanual/wipe_board/scene_eq.xml
@@ -13,7 +13,7 @@
 
   <default>
     <default class="mimic_right">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_right">
       <joint armature="1"/>
@@ -81,11 +81,11 @@
       </default>
       <default class="right_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="right_base">
         <joint range="-0.47 0.47"/>
@@ -121,7 +121,7 @@
       </default>
     </default>
     <default class="mimic_left">
-      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+      <site group="3" rgba="1 0 0 1"/>
     </default>
     <default class="allegro_left">
       <joint armature="1"/>
@@ -189,11 +189,11 @@
       </default>
       <default class="left_base_slide">
         <joint type="slide" range="-3 3"/>
-        <general ctrlrange="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base_hinge">
         <joint range="-6.28 6.28"/>
-        <general ctrlrange="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
       </default>
       <default class="left_base">
         <joint range="-0.47 0.47"/>
@@ -231,8 +231,8 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="1 1 1" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -267,14 +267,33 @@
     <mesh name="left_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
     <mesh name="left_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
     <mesh name="right_0" file="objects/O02@0055@00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0055@00002/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0055@00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0055@00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0055@00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0055@00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0055@00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0055@00002/convex/7.obj"/>
     <mesh name="left_0" file="objects/O02@0054@00001/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0054@00001/convex/1.obj"/>
+    <mesh name="left_10" file="objects/O02@0054@00001/convex/10.obj"/>
+    <mesh name="left_11" file="objects/O02@0054@00001/convex/11.obj"/>
+    <mesh name="left_12" file="objects/O02@0054@00001/convex/12.obj"/>
+    <mesh name="left_13" file="objects/O02@0054@00001/convex/13.obj"/>
+    <mesh name="left_14" file="objects/O02@0054@00001/convex/14.obj"/>
+    <mesh name="left_15" file="objects/O02@0054@00001/convex/15.obj"/>
+    <mesh name="left_16" file="objects/O02@0054@00001/convex/16.obj"/>
+    <mesh name="left_17" file="objects/O02@0054@00001/convex/17.obj"/>
+    <mesh name="left_18" file="objects/O02@0054@00001/convex/18.obj"/>
+    <mesh name="left_19" file="objects/O02@0054@00001/convex/19.obj"/>
     <mesh name="left_2" file="objects/O02@0054@00001/convex/2.obj"/>
     <mesh name="left_3" file="objects/O02@0054@00001/convex/3.obj"/>
     <mesh name="left_4" file="objects/O02@0054@00001/convex/4.obj"/>
     <mesh name="left_5" file="objects/O02@0054@00001/convex/5.obj"/>
     <mesh name="left_6" file="objects/O02@0054@00001/convex/6.obj"/>
     <mesh name="left_7" file="objects/O02@0054@00001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/O02@0054@00001/convex/8.obj"/>
+    <mesh name="left_9" file="objects/O02@0054@00001/convex/9.obj"/>
     <mesh name="right_visual" file="objects/O02@0055@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0054@00001/visual.obj"/>
   </asset>
@@ -312,9 +331,9 @@
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -337,9 +356,9 @@
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -362,9 +381,9 @@
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
                 <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
-                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -387,9 +406,9 @@
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
                 <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
-                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -424,9 +443,9 @@
               <body name="left_rf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -449,9 +468,9 @@
               <body name="left_mf_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -474,9 +493,9 @@
               <body name="left_ff_tip">
                 <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
                 <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
-                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
-                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0.01 0 0.029"/>
               </body>
             </body>
           </body>
@@ -499,9 +518,9 @@
               <body name="left_th_tip">
                 <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
                 <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
-                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
-                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0.01 0 0.039"/>
               </body>
             </body>
           </body>
@@ -509,8 +528,15 @@
       </body>
     </body>
     <body name="right_object">
-      <joint name="right_object_joint" type="free" armature="0.001" frictionloss="0.0001"/>
-      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" 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" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
@@ -544,15 +570,27 @@
       <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="left_object">
-      <joint name="left_object_joint" type="free" armature="0.001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_10" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_10"/>
+      <geom name="left_object_11" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_11"/>
+      <geom name="left_object_12" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_12"/>
+      <geom name="left_object_13" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_13"/>
+      <geom name="left_object_14" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_14"/>
+      <geom name="left_object_15" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_15"/>
+      <geom name="left_object_16" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_16"/>
+      <geom name="left_object_17" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_17"/>
+      <geom name="left_object_18" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_18"/>
+      <geom name="left_object_19" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_19"/>
+      <geom name="left_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_8"/>
+      <geom name="left_object_9" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_9"/>
       <geom name="left_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
       <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
@@ -588,342 +626,1007 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_index_0_collision_hand_left_ring_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_index_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_1" name="collision_hand_right_index_0_collision_hand_left_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_0" name="collision_hand_right_index_0_collision_hand_left_index_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
+    <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_10" name="floor_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_11" name="floor_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_12" name="floor_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_13" name="floor_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_14" name="floor_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_15" name="floor_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_16" name="floor_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_17" name="floor_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_18" name="floor_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_19" name="floor_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_9" name="floor_left_object_9" 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_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_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_10" name="collision_hand_right_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_11" name="collision_hand_right_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_12" name="collision_hand_right_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_13" name="collision_hand_right_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_14" name="collision_hand_right_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_15" name="collision_hand_right_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_16" name="collision_hand_right_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_17" name="collision_hand_right_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_18" name="collision_hand_right_palm_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_19" name="collision_hand_right_palm_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_9" name="collision_hand_right_palm_0_left_object_9" 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="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_10" name="collision_hand_right_index_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_11" name="collision_hand_right_index_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_12" name="collision_hand_right_index_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_13" name="collision_hand_right_index_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_14" name="collision_hand_right_index_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_15" name="collision_hand_right_index_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_16" name="collision_hand_right_index_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_17" name="collision_hand_right_index_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_18" name="collision_hand_right_index_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_19" name="collision_hand_right_index_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_8" name="collision_hand_right_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_9" name="collision_hand_right_index_2_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_10" name="collision_hand_right_middle_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_11" name="collision_hand_right_middle_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_12" name="collision_hand_right_middle_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_13" name="collision_hand_right_middle_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_14" name="collision_hand_right_middle_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_15" name="collision_hand_right_middle_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_16" name="collision_hand_right_middle_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_17" name="collision_hand_right_middle_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_18" name="collision_hand_right_middle_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_19" name="collision_hand_right_middle_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_9" name="collision_hand_right_middle_0_left_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_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="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_10" name="collision_hand_right_ring_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_11" name="collision_hand_right_ring_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_12" name="collision_hand_right_ring_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_13" name="collision_hand_right_ring_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_14" name="collision_hand_right_ring_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_15" name="collision_hand_right_ring_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_16" name="collision_hand_right_ring_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_17" name="collision_hand_right_ring_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_18" name="collision_hand_right_ring_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_19" name="collision_hand_right_ring_2_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_8" name="collision_hand_right_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_9" name="collision_hand_right_ring_2_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_10" name="collision_hand_right_ring_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_11" name="collision_hand_right_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_12" name="collision_hand_right_ring_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_13" name="collision_hand_right_ring_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_14" name="collision_hand_right_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_15" name="collision_hand_right_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_16" name="collision_hand_right_ring_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_17" name="collision_hand_right_ring_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_18" name="collision_hand_right_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_19" name="collision_hand_right_ring_1_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_9" name="collision_hand_right_ring_1_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_10" name="collision_hand_right_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_11" name="collision_hand_right_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_12" name="collision_hand_right_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_13" name="collision_hand_right_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_14" name="collision_hand_right_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_15" name="collision_hand_right_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_16" name="collision_hand_right_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_17" name="collision_hand_right_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_18" name="collision_hand_right_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_19" name="collision_hand_right_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_9" name="collision_hand_right_ring_0_left_object_9" 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"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_10" name="collision_hand_left_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_12" name="collision_hand_left_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_13" name="collision_hand_left_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_15" name="collision_hand_left_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_16" name="collision_hand_left_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_17" name="collision_hand_left_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_9" name="collision_hand_left_palm_0_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_10" name="collision_hand_left_ring_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_11" name="collision_hand_left_ring_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_12" name="collision_hand_left_ring_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_13" name="collision_hand_left_ring_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_14" name="collision_hand_left_ring_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_15" name="collision_hand_left_ring_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_16" name="collision_hand_left_ring_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_17" name="collision_hand_left_ring_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_18" name="collision_hand_left_ring_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_19" name="collision_hand_left_ring_2_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_8" name="collision_hand_left_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_9" name="collision_hand_left_ring_2_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_10" name="collision_hand_left_ring_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_11" name="collision_hand_left_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_12" name="collision_hand_left_ring_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_13" name="collision_hand_left_ring_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_14" name="collision_hand_left_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_15" name="collision_hand_left_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_16" name="collision_hand_left_ring_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_17" name="collision_hand_left_ring_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_18" name="collision_hand_left_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_19" name="collision_hand_left_ring_1_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_9" name="collision_hand_left_ring_1_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_10" name="collision_hand_left_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_11" name="collision_hand_left_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_12" name="collision_hand_left_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_13" name="collision_hand_left_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_14" name="collision_hand_left_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_15" name="collision_hand_left_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_16" name="collision_hand_left_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_17" name="collision_hand_left_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_18" name="collision_hand_left_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_19" name="collision_hand_left_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_9" name="collision_hand_left_ring_0_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_10" name="collision_hand_left_middle_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_11" name="collision_hand_left_middle_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_12" name="collision_hand_left_middle_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_13" name="collision_hand_left_middle_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_14" name="collision_hand_left_middle_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_15" name="collision_hand_left_middle_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_16" name="collision_hand_left_middle_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_17" name="collision_hand_left_middle_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_18" name="collision_hand_left_middle_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_19" name="collision_hand_left_middle_2_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_4" name="collision_hand_left_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_8" name="collision_hand_left_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_9" name="collision_hand_left_middle_2_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_10" name="collision_hand_left_middle_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_11" name="collision_hand_left_middle_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_12" name="collision_hand_left_middle_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_13" name="collision_hand_left_middle_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_14" name="collision_hand_left_middle_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_15" name="collision_hand_left_middle_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_16" name="collision_hand_left_middle_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_17" name="collision_hand_left_middle_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_18" name="collision_hand_left_middle_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_19" name="collision_hand_left_middle_1_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_16" name="collision_hand_left_thumb_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_17" name="collision_hand_left_thumb_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_9" name="collision_hand_left_thumb_2_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_10" name="collision_hand_left_thumb_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_11" name="collision_hand_left_thumb_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_12" name="collision_hand_left_thumb_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_13" name="collision_hand_left_thumb_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_14" name="collision_hand_left_thumb_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_15" name="collision_hand_left_thumb_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_16" name="collision_hand_left_thumb_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_17" name="collision_hand_left_thumb_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_18" name="collision_hand_left_thumb_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_19" name="collision_hand_left_thumb_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_9" name="collision_hand_left_thumb_1_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_10" name="collision_hand_left_thumb_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_11" name="collision_hand_left_thumb_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_12" name="collision_hand_left_thumb_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_13" name="collision_hand_left_thumb_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_14" name="collision_hand_left_thumb_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_15" name="collision_hand_left_thumb_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_16" name="collision_hand_left_thumb_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_17" name="collision_hand_left_thumb_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_18" name="collision_hand_left_thumb_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_19" name="collision_hand_left_thumb_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_9" name="collision_hand_left_thumb_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_9" name="right_object_1_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_9" name="right_object_2_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
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diff --git a/processed/oakink/assets/objects/O02@0206@00001/convex/4.obj b/processed/oakink/assets/objects/O02@0206@00001/convex/4.obj
index b5794b0d4d9c645654d0895345c76d2a655f7e07..733d49894f40286670fbe8c0a622d0b62498d39e 100644
--- a/processed/oakink/assets/objects/O02@0206@00001/convex/4.obj
+++ b/processed/oakink/assets/objects/O02@0206@00001/convex/4.obj
@@ -1,3 +1,3 @@
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-oid sha256:ae7518cb3dc947ee5c0467d981ead80674850e48f8009f279c3797fbc758acb7
-size 1822
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diff --git a/processed/oakink/assets/objects/O02@0206@00001/convex/5.obj b/processed/oakink/assets/objects/O02@0206@00001/convex/5.obj
index 733d49894f40286670fbe8c0a622d0b62498d39e..c5ade661caa4cc7394e8fa135a2d021eaabdf5e0 100644
--- a/processed/oakink/assets/objects/O02@0206@00001/convex/5.obj
+++ b/processed/oakink/assets/objects/O02@0206@00001/convex/5.obj
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:447a4a8c72958f00c843e4a2bb1d81109916a21aba659505cc7f76a0e9919a2b
-size 1780
+oid sha256:fb57b766a364ada4f7dad423978a28472e975b52b5e5625d7ac5948e19e3f660
+size 1798
diff --git a/processed/oakink/assets/objects/O02@0206@00001/convex/6.obj b/processed/oakink/assets/objects/O02@0206@00001/convex/6.obj
deleted file mode 100644
index c5ade661caa4cc7394e8fa135a2d021eaabdf5e0..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/objects/O02@0206@00001/convex/6.obj
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fb57b766a364ada4f7dad423978a28472e975b52b5e5625d7ac5948e19e3f660
-size 1798
diff --git a/processed/oakink/assets/objects/O02@0206@00001/convex/7.obj b/processed/oakink/assets/objects/O02@0206@00001/convex/7.obj
deleted file mode 100644
index b856ab0543e4f5f2c9270fd6fbdd19c5d864d711..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/objects/O02@0206@00001/convex/7.obj
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:91a50b81e84d836dadab3472433141c4aba889cda9f8349f51675ef781e7dbb2
-size 1808
diff --git a/processed/oakink/assets/objects/O02@0206@00002/convex/0.obj b/processed/oakink/assets/objects/O02@0206@00002/convex/0.obj
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--- a/processed/oakink/assets/objects/O02@0206@00002/convex/0.obj
+++ b/processed/oakink/assets/objects/O02@0206@00002/convex/0.obj
@@ -1,3 +1,3 @@
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-oid sha256:d3fd067d9efcb0cfd4f0861e3c1fbc489f97de6efb3da6e76b5629f797475917
-size 1823
+oid sha256:7831ef9e6fa6c55a9edf7a112d92efbfbe79f92363ce0716f6142372f395fa4e
+size 11219
diff --git a/processed/oakink/assets/objects/O02@0206@00002/convex/1.obj b/processed/oakink/assets/objects/O02@0206@00002/convex/1.obj
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--- a/processed/oakink/assets/objects/O02@0206@00002/convex/1.obj
+++ b/processed/oakink/assets/objects/O02@0206@00002/convex/1.obj
@@ -1,3 +1,3 @@
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-oid sha256:7173481e255a52c81fd3700b11bb3a1dc10243e0449196266d3f266d0448b9e0
-size 1787
+oid sha256:289be2ab82e1302c6656aa15994929fdfd4de4bf3945f416dc7bded9b941f254
+size 9543
diff --git a/processed/oakink/assets/objects/O02@0206@00002/convex/2.obj b/processed/oakink/assets/objects/O02@0206@00002/convex/2.obj
index 00225ba3da9cd8a0e3c44a4be77f6e41da298e1d..42b9cf71a751e9dda638c357ac6b16abaf8ea562 100644
--- a/processed/oakink/assets/objects/O02@0206@00002/convex/2.obj
+++ b/processed/oakink/assets/objects/O02@0206@00002/convex/2.obj
@@ -1,3 +1,3 @@
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-size 1799
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+size 4183
diff --git a/processed/oakink/assets/objects/O02@0206@00002/convex/3.obj b/processed/oakink/assets/objects/O02@0206@00002/convex/3.obj
index 93bd16e704d5172b02a855061300da468a09d96d..a4211f334384f99ebeb66668bf53d0127f3a7101 100644
--- a/processed/oakink/assets/objects/O02@0206@00002/convex/3.obj
+++ b/processed/oakink/assets/objects/O02@0206@00002/convex/3.obj
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a8565406158b22d17ab86688fe9a1ab438f9c636bddee696c0e190bba015ebc9
-size 1802
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+size 3408
diff --git a/processed/oakink/assets/objects/O02@0206@00002/convex/4.obj b/processed/oakink/assets/objects/O02@0206@00002/convex/4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d64e8f07dcadfbd215d7415fdb7bcac6f14bd51
--- /dev/null
+++ b/processed/oakink/assets/objects/O02@0206@00002/convex/4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70bd18cdd26a05c3eca3b4641e7fb8d3caa0a42beeb4d16f99ec3a381f213e39
+size 10452
diff --git a/processed/oakink/assets/objects/O02@0206@00002/convex/5.obj b/processed/oakink/assets/objects/O02@0206@00002/convex/5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..795b656246c4f7e1710dff0f0b17e7657d451043
--- /dev/null
+++ b/processed/oakink/assets/objects/O02@0206@00002/convex/5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41e49ce49e69d34a726e6c21c3398a8aa088a668a635c05c8b7838f4783e2141
+size 10857
diff --git a/processed/oakink/assets/objects/O02@0206@00002/convex/6.obj b/processed/oakink/assets/objects/O02@0206@00002/convex/6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38d12326a2e3606760ff7aeff6ff271f3fd938dc
--- /dev/null
+++ b/processed/oakink/assets/objects/O02@0206@00002/convex/6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef68dd99bb86569f03acab2e060a99ad26a431d056a639010607a14d31dca9ed
+size 3945
diff --git a/processed/oakink/assets/objects/O02@0206@00002/convex/7.obj b/processed/oakink/assets/objects/O02@0206@00002/convex/7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b550e9ffb1dbe97cee353c856230e16d917f7cd
--- /dev/null
+++ b/processed/oakink/assets/objects/O02@0206@00002/convex/7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc6d90efd67329c154ecbf40b6389bd8ef20ebc078e991700c9a2de62b95027b
+size 3075
diff --git a/processed/oakink/assets/objects/O02@0206@00002/visual.obj b/processed/oakink/assets/objects/O02@0206@00002/visual.obj
index 6c196f52d0132ff45993a2f7dfb1fb91df3460b4..a25f15135f98fef4dd1f008946593d9e33e5ce99 100644
--- a/processed/oakink/assets/objects/O02@0206@00002/visual.obj
+++ b/processed/oakink/assets/objects/O02@0206@00002/visual.obj
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2566ef1c9d885687c310a4016395f179fad0a448c76c5e95a48405a7f635472c
-size 425186
+oid sha256:42ad3222a13036da40be3a83cd037fc0b9e1e20610529c4207c90489b8581787
+size 175048
diff --git a/processed/oakink/assets/objects/O02@0206@00002/visual_raw.obj b/processed/oakink/assets/objects/O02@0206@00002/visual_raw.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c196f52d0132ff45993a2f7dfb1fb91df3460b4
--- /dev/null
+++ b/processed/oakink/assets/objects/O02@0206@00002/visual_raw.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2566ef1c9d885687c310a4016395f179fad0a448c76c5e95a48405a7f635472c
+size 425186
diff --git a/processed/oakink/assets/robots/ability/MUJOCO_LOG.TXT b/processed/oakink/assets/robots/ability/MUJOCO_LOG.TXT
new file mode 100644
index 0000000000000000000000000000000000000000..8e20202da2ef83fe8226bcb425738d94766e513c
--- /dev/null
+++ b/processed/oakink/assets/robots/ability/MUJOCO_LOG.TXT
@@ -0,0 +1,6 @@
+Mon Jan 26 18:05:28 2026
+ERROR: could not initialize GLFW
+
+Tue Jan 27 09:27:39 2026
+ERROR: could not initialize GLFW
+
diff --git a/processed/oakink/assets/robots/ability/left.xml b/processed/oakink/assets/robots/ability/left.xml
index 0e1b8b777c7cc4b1b78c63a2a0c2bfec7cc329d5..a92b4db21609b34b98854d2dddea134dfc826a7e 100644
--- a/processed/oakink/assets/robots/ability/left.xml
+++ b/processed/oakink/assets/robots/ability/left.xml
@@ -5,9 +5,12 @@
     <!-- disable all contacts and use explicit collision pairs -->
     <geom density="800" condim="1" contype="0" conaffinity="0" />
     <!-- with this setting, the response time is around 1s -->
-    <position kp="300" dampratio="1.0" inheritrange="1" />
+    <position kp="100" dampratio="1.0" inheritrange="1" />
     <joint damping="0.0" armature="1.0" frictionloss="0.0" />
-    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+    <site size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
+    <default class="left_base">
+      <position kp="300" dampratio="1.0" inheritrange="1" />
+    </default>
   </default>
 
   <asset>
@@ -106,13 +109,13 @@
                     <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483"
                       quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh"
                       mesh="left_thumb-F2_C" group="3" />
-                    <geom name="collision_hand_left_thumb_0" type="capsule" size="0.007"
-                      fromto="0 0 0 0.0651867 0.0233402 0.00393483" contype="0" conaffinity="0"
+                    <geom name="collision_hand_left_thumb_0" type="capsule" size="0.01"
+                      fromto="0 0 0 0.059 0.025 0.00" contype="0" conaffinity="0"
                       group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483" />
-                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483" />
-                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483" />
+                    <site name="left_thumb_tip" pos="0.059 0.025 0.00" />
+                    <site name="track_hand_left_thumb_tip" pos="0.059 0.025 0.00" />
+                    <site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0.00" />
                   </body>
                 </body>
                 <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706"
@@ -153,12 +156,12 @@
                       contype="0" conaffinity="0" group="1" density="0" mesh="left_idx-F2" />
                     <geom type="mesh" mesh="left_idx-F2_C" />
                     <geom size="0.007" pos="0.03 -0.016 0" />
-                    <geom name="collision_hand_left_index_0" type="capsule" size="0.007"
+                    <geom name="collision_hand_left_index_0" type="capsule" size="0.01"
                       fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="left_index_tip" pos="0.03 -0.016 0" />
-                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0" />
-                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0" />
+                    <site name="left_index_tip" pos="0.025 -0.022 0" />
+                    <site name="track_hand_left_index_tip" pos="0.025 -0.022 0" />
+                    <site name="trace_hand_left_index_tip" pos="0.025 -0.022 0" />
                   </body>
                 </body>
                 <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634"
@@ -194,12 +197,12 @@
                       contype="0" conaffinity="0" group="1" density="0" mesh="left_idx-F2" />
                     <geom type="mesh" mesh="left_idx-F2_C" />
                     <geom size="0.007" pos="0.03 -0.016 0" />
-                    <geom name="collision_hand_left_middle_0" type="capsule" size="0.007"
+                    <geom name="collision_hand_left_middle_0" type="capsule" size="0.01"
                       fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="left_middle_tip" pos="0.03 -0.016 0" />
-                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0" />
-                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0" />
+                    <site name="left_middle_tip" pos="0.025 -0.022 0" />
+                    <site name="track_hand_left_middle_tip" pos="0.025 -0.022 0" />
+                    <site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0" />
                   </body>
                 </body>
                 <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038"
@@ -236,12 +239,12 @@
                       contype="0" conaffinity="0" group="1" density="0" mesh="left_idx-F2" />
                     <geom type="mesh" mesh="left_idx-F2_C" />
                     <geom size="0.007" pos="0.03 -0.016 0" />
-                    <geom name="collision_hand_left_ring_0" type="capsule" size="0.007"
+                      <geom name="collision_hand_left_ring_0" type="capsule" size="0.01"
                       fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="left_ring_tip" pos="0.03 -0.016 0" />
-                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0" />
-                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0" />
+                    <site name="left_ring_tip" pos="0.025 -0.022 0" />
+                    <site name="track_hand_left_ring_tip" pos="0.025 -0.022 0" />
+                    <site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0" />
                   </body>
                 </body>
                 <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346"
@@ -277,12 +280,12 @@
                       contype="0" conaffinity="0" group="1" density="0" mesh="left_idx-F2" />
                     <geom type="mesh" mesh="left_idx-F2_C" />
                     <geom size="0.007" pos="0.03 -0.016 0" />
-                    <geom name="collision_hand_left_pinky_0" type="capsule" size="0.007"
+                    <geom name="collision_hand_left_pinky_0" type="capsule" size="0.01"
                       fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="left_pinky_tip" pos="0.03 -0.016 0" />
-                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0" />
-                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0" />
+                    <site name="left_pinky_tip" pos="0.025 -0.022 0" />
+                    <site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0" />
+                    <site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0" />
                   </body>
                 </body>
               </body>
@@ -294,12 +297,12 @@
   </worldbody>
   <actuator>
     <!-- Global position and rotation joints -->
-    <position name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" kp="1000" />
-    <position name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" kp="1000" />
-    <position name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" kp="1000" />
-    <position name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" kp="1000" />
-    <position name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" kp="1000" />
-    <position name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" kp="1000" />
+    <position class="left_base" name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" />
+    <position class="left_base" name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" />
+    <position class="left_base" name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" />
+    <position class="left_base" name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" />
+    <position class="left_base" name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" />
+    <position class="left_base" name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" />
 
     <!-- Thumb joints -->
     <position name="left_thumb_q1_position" joint="left_thumb_q1" />
@@ -322,4 +325,4 @@
     <position name="left_pinky_q2_position" joint="left_pinky_q2" />
 
   </actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/processed/oakink/assets/robots/ability/right.xml b/processed/oakink/assets/robots/ability/right.xml
index 0c6063fd9db04835eeea344111680d69f1b2c362..54cdfc791fbed65e106453368c3b6e71116a4b28 100644
--- a/processed/oakink/assets/robots/ability/right.xml
+++ b/processed/oakink/assets/robots/ability/right.xml
@@ -5,17 +5,20 @@
     <!-- disable all contacts and use explicit collision pairs -->
     <geom density="800" condim="1" contype="0" conaffinity="0" />
     <!-- with this setting, the response time is around 1s -->
-    <position kp="300" dampratio="1.0" inheritrange="1" />
+    <position kp="100" dampratio="1.0" inheritrange="1" />
     <joint damping="0.0" armature="1.0" frictionloss="0.0" />
-    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+    <site size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
+    <default class="right_base">
+      <position kp="300" dampratio="1.0" inheritrange="1" />
+    </default>
   </default>
 
   <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+    <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512"
       height="3072" />
-    <texture type="2d" name="right_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="300" />
+    <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1"
+      rgb2="1 1 1"
+      markrgb="1 1 1" width="300" height="300" />
     <material name="right_groundplane" texture="right_groundplane" texuniform="true"
       texrepeat="5 5"
       reflectance="0.2" />
@@ -102,13 +105,13 @@
                     <!-- <geom name="collision_hand_right_thumb_0" type="sphere" size="0.007"
                       pos="0.0651867 0.0233402 -0.00393483" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" /> -->
-                    <geom name="collision_hand_right_thumb_0" type="capsule" size="0.007"
-                      fromto="0 0 0 0.0651867 0.0233402 -0.00393483" contype="0" conaffinity="0"
+                    <geom name="collision_hand_right_thumb_0" type="capsule" size="0.012"
+                      fromto="0 0 0 0.059 0.025 0.00" contype="0" conaffinity="0"
                       group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483" />
-                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483" />
-                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483" />
+                    <site name="right_thumb_tip" pos="0.059 0.025 0.00" />
+                    <site name="track_hand_right_thumb_tip" pos="0.059 0.025 0.00" />
+                    <site name="trace_hand_right_thumb_tip" pos="0.059 0.025 0.00" />
                   </body>
                 </body>
                 <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706"
@@ -144,12 +147,12 @@
                       contype="0" conaffinity="0" group="1" density="0" mesh="right_idx-F2" />
                     <geom type="mesh" mesh="right_idx-F2_C" />
                     <geom size="0.007" pos="0.03 -0.016 0" />
-                    <geom name="collision_hand_right_index_0" type="capsule" size="0.007"
+                    <geom name="collision_hand_right_index_0" type="capsule" size="0.01"
                       fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="right_index_tip" pos="0.03 -0.016 0" />
-                    <site name="track_hand_right_index_tip" pos="0.03 -0.016 0" />
-                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0" />
+                    <site name="right_index_tip" pos="0.025 -0.022 0" />
+                    <site name="track_hand_right_index_tip" pos="0.025 -0.022 0" />
+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0" />
                   </body>
                 </body>
                 <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634"
@@ -185,12 +188,12 @@
                       contype="0" conaffinity="0" group="1" density="0" mesh="right_idx-F2" />
                     <geom type="mesh" mesh="right_idx-F2_C" />
                     <geom size="0.007" pos="0.03 -0.016 0" />
-                    <geom name="collision_hand_right_middle_0" type="capsule" size="0.007"
+                    <geom name="collision_hand_right_middle_0" type="capsule" size="0.01"
                       fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="right_middle_tip" pos="0.03 -0.016 0" />
-                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0" />
-                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0" />
+                    <site name="right_middle_tip" pos="0.025 -0.022 0" />
+                    <site name="track_hand_right_middle_tip" pos="0.025 -0.022 0" />
+                    <site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0" />
                   </body>
                 </body>
                 <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038"
@@ -226,12 +229,12 @@
                       contype="0" conaffinity="0" group="1" density="0" mesh="right_idx-F2" />
                     <geom type="mesh" mesh="right_idx-F2_C" />
                     <geom size="0.007" pos="0.03 -0.016 0" />
-                    <geom name="collision_hand_right_ring_0" type="capsule" size="0.007"
+                    <geom name="collision_hand_right_ring_0" type="capsule" size="0.01"
                       fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="right_ring_tip" pos="0.03 -0.016 0" />
-                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0" />
-                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0" />
+                    <site name="right_ring_tip" pos="0.025 -0.022 0" />
+                    <site name="track_hand_right_ring_tip" pos="0.025 -0.022 0" />
+                    <site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0" />
                   </body>
                 </body>
                 <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346"
@@ -267,12 +270,12 @@
                       contype="0" conaffinity="0" group="1" density="0" mesh="right_idx-F2" />
                     <geom type="mesh" mesh="right_idx-F2_C" />
                     <geom size="0.007" pos="0.03 -0.016 0" />
-                    <geom name="collision_hand_right_pinky_0" type="capsule" size="0.007"
+                    <geom name="collision_hand_right_pinky_0" type="capsule" size="0.01"
                       fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
                       density="0" rgba="0 1 0 1" />
-                    <site name="right_pinky_tip" pos="0.03 -0.016 0" />
-                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0" />
-                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0" />
+                    <site name="right_pinky_tip" pos="0.025 -0.022 0" />
+                    <site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0" />
+                    <site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0" />
                   </body>
                 </body>
               </body>
@@ -284,12 +287,12 @@
   </worldbody>
   <actuator>
     <!-- Global position and rotation joints -->
-    <position name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" kp="1000" />
-    <position name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" kp="1000" />
-    <position name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" kp="1000" />
-    <position name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" kp="1000" />
-    <position name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" kp="1000" />
-    <position name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" kp="1000" />
+    <position class="right_base" name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" />
+    <position class="right_base" name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" />
+    <position class="right_base" name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" />
+    <position class="right_base" name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" />
+    <position class="right_base" name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" />
+    <position class="right_base" name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" />
 
     <!-- Thumb joints -->
     <position name="right_thumb_q1_position" joint="right_thumb_q1" />
@@ -312,4 +315,4 @@
     <position name="right_pinky_q2_position" joint="right_pinky_q2" />
 
   </actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/processed/oakink/assets/robots/allegro/MUJOCO_LOG.TXT b/processed/oakink/assets/robots/allegro/MUJOCO_LOG.TXT
new file mode 100644
index 0000000000000000000000000000000000000000..ec2aa1a40371c3f5e75e1abee61374de250816af
--- /dev/null
+++ b/processed/oakink/assets/robots/allegro/MUJOCO_LOG.TXT
@@ -0,0 +1,3 @@
+Mon Jan 26 18:47:42 2026
+ERROR: could not initialize GLFW
+
diff --git a/processed/oakink/assets/robots/allegro/left.xml b/processed/oakink/assets/robots/allegro/left.xml
index 8dc535e03fa9c04355acdb1001ae89a62e68427f..90e2a8393e767313259831e19a176c8a6114ecd9 100644
--- a/processed/oakink/assets/robots/allegro/left.xml
+++ b/processed/oakink/assets/robots/allegro/left.xml
@@ -8,7 +8,7 @@
 
   <default>
     <default class="mimic_left">
-      <site size="0.015" type="sphere" rgba="1 0 0 1" group="3" />
+      <site size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
     </default>
     <default class="allegro_left">
       <joint axis="0 1 0" armature="1.0" damping="0.0" />
@@ -178,9 +178,9 @@
               <joint name="left_ring_distal_joint" class="left_distal" />
               <geom class="left_distal_visual" />
               <body name="left_rf_tip">
-                <site name="left_ring_tip" pos="0 0 0.019" class="mimic_left" />
-                <site name="track_hand_left_ring_tip" pos="0 0 0.019" class="mimic_left" />
-                <site name="trace_left_ring_tip" pos="0 0 0.019" class="mimic_left" />
+                <site name="left_ring_tip" pos="0.01 0.0 0.029" class="mimic_left" />
+                <site name="track_hand_left_ring_tip" pos="0.01 0.0 0.029" class="mimic_left" />
+                <site name="trace_left_ring_tip" pos="0.01 0.0 0.029" class="mimic_left" />
                 <geom class="left_fingertip_visual" />
                 <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" />
               </body>
@@ -204,9 +204,9 @@
               <joint name="left_middle_distal_joint" class="left_distal" />
               <geom class="left_distal_visual" />
               <body name="left_mf_tip">
-                <site name="left_middle_tip" pos="0 0 0.019" class="mimic_left" />
-                <site name="track_hand_left_middle_tip" pos="0 0 0.019" class="mimic_left" />
-                <site name="trace_left_middle_tip" pos="0 0 0.019" class="mimic_left" />
+                <site name="left_middle_tip" pos="0.01 0.0 0.029" class="mimic_left" />
+                <site name="track_hand_left_middle_tip" pos="0.01 0.0 0.029" class="mimic_left" />
+                <site name="trace_left_middle_tip" pos="0.01 0.0 0.029" class="mimic_left" />
                 <geom class="left_fingertip_visual" />
                 <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" />
               </body>
@@ -230,9 +230,9 @@
               <joint name="left_index_distal_joint" class="left_distal" />
               <geom class="left_distal_visual" />
               <body name="left_ff_tip">
-                <site name="left_index_tip" pos="0 0 0.019" class="mimic_left" />
-                <site name="track_hand_left_index_tip" pos="0 0 0.019" class="mimic_left" />
-                <site name="trace_left_index_tip" pos="0 0 0.019" class="mimic_left" />
+                <site name="left_index_tip" pos="0.01 0.0 0.029" class="mimic_left" />
+                <site name="track_hand_left_index_tip" pos="0.01 0.0 0.029" class="mimic_left" />
+                <site name="trace_left_index_tip" pos="0.01 0.0 0.029" class="mimic_left" />
                 <geom class="left_fingertip_visual" />
                 <geom name="collision_hand_left_index_0" class="left_fingertip_collision" />
               </body>
@@ -257,9 +257,9 @@
               <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" />
               <geom class="left_visual" mesh="left_link_15.0" />
               <body name="left_th_tip">
-                <site name="left_thumb_tip" pos="0 0 0.035" class="mimic_left" />
-                <site name="track_hand_left_thumb_tip" pos="0 0 0.035" class="mimic_left" />
-                <site name="trace_left_thumb_tip" pos="0 0 0.035" class="mimic_left" />
+                <site name="left_thumb_tip" pos="0.01 0.0 0.039" class="mimic_left" />
+                <site name="track_hand_left_thumb_tip" pos="0.01 0.0 0.039" class="mimic_left" />
+                <site name="trace_left_thumb_tip" pos="0.01 0.0 0.039" class="mimic_left" />
                 <geom class="left_thumbtip_visual" />
                 <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" />
               </body>
@@ -294,4 +294,4 @@
     <position name="left_tha2" joint="left_thumb_medial_joint" class="left_thumb_medial" />
     <position name="left_tha3" joint="left_thumb_distal_joint" class="left_thumb_distal" />
   </actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/processed/oakink/assets/robots/allegro/right.xml b/processed/oakink/assets/robots/allegro/right.xml
index 8b930dc3c84618cbc7e81801be2f4687ff4a6fbf..56c0422770008f89f216a2734569d7b13c6bb811 100644
--- a/processed/oakink/assets/robots/allegro/right.xml
+++ b/processed/oakink/assets/robots/allegro/right.xml
@@ -8,7 +8,7 @@
 
     <default>
         <default class="mimic_right">
-            <site size="0.015" type="sphere" rgba="1 0 0 1" group="3" />
+            <site size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
         </default>
         <default class="allegro_right">
             <joint axis="0 1 0" armature="1.0" damping="0.0" />
@@ -145,11 +145,11 @@
     <asset>
         <material name="right_black" rgba="0.2 0.2 0.2 1" />
         <material name="right_white" rgba="0.9 0.9 0.9 1" />
-        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+        <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512"
             height="3072" />
-        <texture type="2d" name="right_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="300" />
+        <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1"
+            rgb2="1 1 1"
+            markrgb="1 1 1" width="300" height="300" />
         <material name="right_groundplane" texture="right_groundplane" texuniform="true"
             texrepeat="5 5"
             reflectance="0.2" />
@@ -201,10 +201,10 @@
                             <joint name="right_index_distal_joint" class="right_distal" />
                             <geom class="right_distal_visual" />
                             <body name="right_ff_tip">
-                                <site name="right_index_tip" pos="0 0 0.019" class="mimic_right" />
-                                <site name="track_hand_right_index_tip" pos="0 0 0.019"
+                                <site name="right_index_tip" pos="0.01 0.0 0.029" class="mimic_right" />
+                                <site name="track_hand_right_index_tip" pos="0.01 0.0 0.029"
                                     class="mimic_right" />
-                                <site name="trace_right_index_tip" pos="0 0 0.019"
+                                <site name="trace_right_index_tip" pos="0.01 0.0 0.029"
                                     class="mimic_right" />
                                 <geom class="right_fingertip_visual" />
                                 <geom name="collision_hand_right_index_0"
@@ -231,10 +231,10 @@
                             <joint name="right_middle_distal_joint" class="right_distal" />
                             <geom class="right_distal_visual" />
                             <body name="right_mf_tip">
-                                <site name="right_middle_tip" pos="0 0 0.019" class="mimic_right" />
-                                <site name="track_hand_right_middle_tip" pos="0 0 0.019"
+                                <site name="right_middle_tip" pos="0.01 0.0 0.029" class="mimic_right" />
+                                <site name="track_hand_right_middle_tip" pos="0.01 0.0 0.029"
                                     class="mimic_right" />
-                                <site name="trace_right_middle_tip" pos="0 0 0.019"
+                                <site name="trace_right_middle_tip" pos="0.01 0.0 0.029"
                                     class="mimic_right" />
                                 <geom class="right_fingertip_visual" />
                                 <geom name="collision_hand_right_middle_0"
@@ -261,10 +261,10 @@
                             <joint name="right_ring_distal_joint" class="right_distal" />
                             <geom class="right_distal_visual" />
                             <body name="right_rf_tip">
-                                <site name="right_ring_tip" pos="0 0 0.019" class="mimic_right" />
-                                <site name="track_hand_right_ring_tip" pos="0 0 0.019"
+                                <site name="right_ring_tip" pos="0.01 0.0 0.029" class="mimic_right" />
+                                <site name="track_hand_right_ring_tip" pos="0.01 0.0 0.029"
                                     class="mimic_right" />
-                                <site name="trace_right_ring_tip" pos="0 0 0.019"
+                                <site name="trace_right_ring_tip" pos="0.01 0.0 0.029"
                                     class="mimic_right" />
                                 <geom class="right_fingertip_visual" />
                                 <geom name="collision_hand_right_ring_0"
@@ -293,10 +293,10 @@
                             <geom name="collision_hand_right_thumb_1"
                                 class="right_thumb_distal_collision" />
                             <body name="right_th_tip">
-                                <site name="right_thumb_tip" pos="0 0 0.035" class="mimic_right" />
-                                <site name="track_hand_right_thumb_tip" pos="0 0 0.035"
+                                <site name="right_thumb_tip" pos="0.01 0.0 0.039" class="mimic_right" />
+                                <site name="track_hand_right_thumb_tip" pos="0.01 0.0 0.039"
                                     class="mimic_right" />
-                                <site name="trace_right_thumb_tip" pos="0 0 0.035"
+                                <site name="trace_right_thumb_tip" pos="0.01 0.0 0.039"
                                     class="mimic_right" />
                                 <geom class="right_thumbtip_visual" />
                                 <geom name="collision_hand_right_thumb_0"
@@ -333,4 +333,4 @@
         <position name="right_tha2" joint="right_thumb_medial_joint" class="right_thumb_medial" />
         <position name="right_tha3" joint="right_thumb_distal_joint" class="right_thumb_distal" />
     </actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/processed/oakink/assets/robots/schunk/left.xml b/processed/oakink/assets/robots/schunk/left.xml
index 27c51b487d9daa3b099caf81785cca888ae17fdd..2578025be56d465938c06f7636fd79cff4a77ace 100644
--- a/processed/oakink/assets/robots/schunk/left.xml
+++ b/processed/oakink/assets/robots/schunk/left.xml
@@ -7,7 +7,7 @@
     <!-- with this setting, the response time is around 1s -->
     <position kp="300" dampratio="1.0" inheritrange="1" />
     <joint damping="0.0" armature="1.0" frictionloss="0.0" />
-    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+    <site size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
   </default>
 
   <asset>
@@ -83,7 +83,7 @@
                       diaginertia="0.01796 0.016832 0.00408805" />
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0" />
                     <geom type="mesh" mesh="left_d11" />
-                    <geom name="collision_hand_left_thumb_2" type="capsule" size="0.01"
+                    <geom name="collision_hand_left_thumb_2" type="capsule" size="0.016"
                       fromto="0 0 0 0.055 0 0" rgba="0 1 0 1" group="3" />
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05"
@@ -91,18 +91,18 @@
                         diaginertia="0.00139495 0.00103 0.000885049" />
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0" />
                       <geom type="mesh" mesh="left_d12" />
-                      <geom name="collision_hand_left_thumb_1" type="capsule" size="0.008"
+                      <geom name="collision_hand_left_thumb_1" type="capsule" size="0.012"
                         fromto="0 0 0 0.03 0 0" rgba="0 1 0 1" group="3" />
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02"
                           diaginertia="2e-05 2e-05 1e-05" />
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0" />
                         <geom type="mesh" mesh="left_d13" />
-                        <geom name="collision_hand_left_thumb_0" type="capsule" size="0.008"
+                        <geom name="collision_hand_left_thumb_0" type="capsule" size="0.012"
                           fromto="0 0 0 0.02 0 0" rgba="0 1 0 1" group="3" />
-                        <site name="left_thumb_tip" pos="0.02 0 0" />
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0" />
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0" />
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0" />
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0" />
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0" />
                       </body>
                     </body>
                   </body>
@@ -143,11 +143,11 @@
                             diaginertia="2e-05 2e-05 1e-05" />
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395" />
                           <geom type="mesh" mesh="left_finger_tip" />
-                          <geom name="collision_hand_left_ring_0" type="sphere" size="0.01"
-                            rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
-                          <site name="left_ring_tip" pos="0.01 0 0.00" />
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0.00" />
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0.00" />
+                          <geom name="collision_hand_left_ring_0" type="capsule" size="0.008"
+                            rgba="0 1 0 1" group="3" fromto="0 0 0 0.015 0 0.00" />
+                          <site name="left_ring_tip" pos="0.01 0.007 0.00" />
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0.00" />
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0.00" />
                         </body>
                       </body>
                     </body>
@@ -179,11 +179,11 @@
                             diaginertia="2e-05 2e-05 1e-05" />
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971" />
                           <geom type="mesh" mesh="left_finger_tip" />
-                          <geom name="collision_hand_left_pinky_0" type="sphere" size="0.01"
-                            rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
-                          <site name="left_pinky_tip" pos="0.01 0 0.00" />
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0.00" />
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0.00" />
+                          <geom name="collision_hand_left_pinky_0" type="capsule" size="0.008"
+                            rgba="0 1 0 1" group="3" fromto="0 0 0 0.015 0 0.00" />
+                          <site name="left_pinky_tip" pos="0.01 0.007 0.00" />
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0.00" />
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0.00" />
                         </body>
                       </body>
                     </body>
@@ -219,11 +219,11 @@
                           diaginertia="2e-05 2e-05 1e-05" />
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394" />
                         <geom type="mesh" mesh="left_finger_tip" />
-                        <geom name="collision_hand_left_index_0" type="sphere" size="0.01"
-                          rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
-                        <site name="left_index_tip" pos="0.01 0 0.00" />
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0.00" />
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0.00" />
+                        <geom name="collision_hand_left_index_0" type="capsule" size="0.008"
+                          rgba="0 1 0 1" group="3" fromto="0 0 0 0.015 0 0.00" />
+                        <site name="left_index_tip" pos="0.01 0.007 0.00" />
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0.00" />
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0.00" />
                       </body>
                     </body>
                   </body>
@@ -252,11 +252,11 @@
                         diaginertia="2e-05 2e-05 1e-05" />
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334" />
                       <geom type="mesh" mesh="left_finger_tip" />
-                      <geom name="collision_hand_left_middle_0" type="sphere" size="0.01"
-                        rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
-                      <site name="left_middle_tip" pos="0.01 0 0.00" />
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0.00" />
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0.00" />
+                      <geom name="collision_hand_left_middle_0" type="capsule" size="0.008"
+                        rgba="0 1 0 1" group="3" fromto="0 0 0 0.015 0 0.00" />
+                      <site name="left_middle_tip" pos="0.01 0.007 0.00" />
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0.00" />
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0.00" />
                     </body>
                   </body>
                 </body>
@@ -282,17 +282,6 @@
     <position name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" />
     <position name="left_thumb_intermediate_position" joint="left_hand_j3" />
     <position name="left_thumb_distal_position" joint="left_hand_j4" />
-
-    <!-- Index joints -->
-    <position name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" />
-    <position name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" />
-    <position name="left_index_distal_position" joint="left_hand_j14" />
-    <position name="left_index_spread_position" joint="left_hand_index_spread" />
-
-    <!-- Middle joints -->
-    <position name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" />
-    <position name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" />
-    <position name="left_middle_distal_position" joint="left_hand_j15" />
     <position name="left_block_position" joint="left_hand_block_joint" />
 
     <!-- Ring joints -->
@@ -306,5 +295,17 @@
     <position name="left_pinky_proximal_position" joint="left_hand_Pinky" />
     <position name="left_pinky_intermediate_position" joint="left_hand_j13" />
     <position name="left_pinky_distal_position" joint="left_hand_j17" />
+
+    <!-- Index joints -->
+    <position name="left_index_spread_position" joint="left_hand_index_spread" />
+    <position name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" />
+    <position name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" />
+    <position name="left_index_distal_position" joint="left_hand_j14" />
+
+    <!-- Middle joints -->
+    <position name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" />
+    <position name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" />
+    <position name="left_middle_distal_position" joint="left_hand_j15" />
+
   </actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/processed/oakink/assets/robots/schunk/right.xml b/processed/oakink/assets/robots/schunk/right.xml
index 73340b6696f0e8ab13dec8eb8adb8469c1148849..4befea24b9c365e25fd4a5f3536e1d2fd1a503d4 100644
--- a/processed/oakink/assets/robots/schunk/right.xml
+++ b/processed/oakink/assets/robots/schunk/right.xml
@@ -7,14 +7,14 @@
     <!-- with this setting, the response time is around 1s -->
     <position kp="300" dampratio="1.0" inheritrange="1" />
     <joint damping="0.0" armature="1.0" frictionloss="0.0" />
-    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+    <site size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
   </default>
 
   <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+    <texture type="skybox" builtin="gradient" rgb1="1.0 1.0 1.0" rgb2="1.0 1.0 1.0" width="512"
       height="3072" />
-    <texture type="2d" name="right_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="300" />
+    <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1"
+      rgb2="1 1 1" markrgb="0.8 0.8 0.8" width="300" height="300" />
     <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"
       reflectance="0.2" />
     <mesh name="right_d11" content_type="model/obj" file="d11.obj" />
@@ -79,7 +79,7 @@
                       diaginertia="0.01796 0.016832 0.00408805" />
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704" />
                     <geom type="mesh" mesh="right_d11" />
-                    <geom name="collision_hand_right_thumb_2" type="capsule" size="0.01"
+                    <geom name="collision_hand_right_thumb_2" type="capsule" size="0.016"
                       fromto="0 0 0 0.055 0 0" rgba="0 1 0 1" group="3" />
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05"
@@ -87,18 +87,18 @@
                         diaginertia="0.00139495 0.00103 0.000885049" />
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506" />
                       <geom type="mesh" mesh="right_d12" />
-                      <geom name="collision_hand_right_thumb_1" type="capsule" size="0.008"
+                      <geom name="collision_hand_right_thumb_1" type="capsule" size="0.012"
                         fromto="0 0 0 0.03 0 0" rgba="0 1 0 1" group="3" />
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02"
                           diaginertia="2e-05 2e-05 1e-05" />
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406" />
                         <geom type="mesh" mesh="right_d13" />
-                        <geom name="collision_hand_right_thumb_0" type="capsule" size="0.008"
+                        <geom name="collision_hand_right_thumb_0" type="capsule" size="0.012"
                           fromto="0 0 0 0.02 0 0" rgba="0 1 0 1" group="3" />
-                        <site name="right_thumb_tip" pos="0.02 0 0" />
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0" />
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0" />
+                        <site name="right_thumb_tip" pos="0.02 0.01 0" />
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0" />
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0" />
                       </body>
                     </body>
                   </body>
@@ -138,11 +138,11 @@
                             diaginertia="2e-05 2e-05 1e-05" />
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395" />
                           <geom type="mesh" mesh="right_finger_tip" />
-                          <geom name="collision_hand_right_ring_0" type="sphere" size="0.01"
-                            rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
-                          <site name="right_ring_tip" pos="0.01 0 0.00" />
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0.00" />
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0.00" />
+                          <geom name="collision_hand_right_ring_0" type="capsule" size="0.008"
+                            rgba="0 1 0 1" group="3" fromto="0 0 0 0.015 0 0.00" />
+                          <site name="right_ring_tip" pos="0.01 0.007 0.00" />
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0.00" />
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0.00" />
                         </body>
                       </body>
                     </body>
@@ -174,11 +174,11 @@
                             diaginertia="2e-05 2e-05 1e-05" />
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971" />
                           <geom type="mesh" mesh="right_finger_tip" />
-                          <geom name="collision_hand_right_pinky_0" type="sphere" size="0.01"
-                            rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
-                          <site name="right_pinky_tip" pos="0.01 0 0.00" />
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0.00" />
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0.00" />
+                          <geom name="collision_hand_right_pinky_0" type="capsule" size="0.008"
+                            rgba="0 1 0 1" group="3" fromto="0 0 0 0.015 0 0.00" />
+                          <site name="right_pinky_tip" pos="0.01 0.007 0.00" />
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0.00" />
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0.00" />
                         </body>
                       </body>
                     </body>
@@ -212,11 +212,11 @@
                           diaginertia="2e-05 2e-05 1e-05" />
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394" />
                         <geom type="mesh" mesh="right_finger_tip" />
-                        <geom name="collision_hand_right_index_0" type="sphere" size="0.01"
-                          rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
-                        <site name="right_index_tip" pos="0.01 0 0.00" />
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0.00" />
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0.00" />
+                        <geom name="collision_hand_right_index_0" type="capsule" size="0.008"
+                          rgba="0 1 0 1" group="3" fromto="0 0 0 0.015 0 0.00" />
+                        <site name="right_index_tip" pos="0.01 0.007 0.00" />
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0.00" />
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0.00" />
                       </body>
                     </body>
                   </body>
@@ -243,11 +243,11 @@
                         diaginertia="2e-05 2e-05 1e-05" />
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334" />
                       <geom type="mesh" mesh="right_finger_tip" />
-                      <geom name="collision_hand_right_middle_0" type="sphere" size="0.01"
-                        rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
-                      <site name="right_middle_tip" pos="0.01 0 0.00" />
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0.00" />
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0.00" />
+                      <geom name="collision_hand_right_middle_0" type="capsule" size="0.008"
+                        rgba="0 1 0 1" group="3" fromto="0 0 0 0.015 0 0.00" />
+                      <site name="right_middle_tip" pos="0.01 0.007 0.00" />
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0.00" />
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0.00" />
                     </body>
                   </body>
                 </body>
@@ -273,17 +273,6 @@
     <position name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" />
     <position name="right_thumb_intermediate_position" joint="right_hand_j3" />
     <position name="right_thumb_distal_position" joint="right_hand_j4" />
-
-    <!-- Index joints -->
-    <position name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" />
-    <position name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" />
-    <position name="right_index_distal_position" joint="right_hand_j14" />
-    <position name="right_index_spread_position" joint="right_hand_index_spread" />
-
-    <!-- Middle joints -->
-    <position name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" />
-    <position name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" />
-    <position name="right_middle_distal_position" joint="right_hand_j15" />
     <position name="right_block_position" joint="right_hand_block_joint" />
 
     <!-- Ring joints -->
@@ -297,5 +286,16 @@
     <position name="right_pinky_proximal_position" joint="right_hand_Pinky" />
     <position name="right_pinky_intermediate_position" joint="right_hand_j13" />
     <position name="right_pinky_distal_position" joint="right_hand_j17" />
+
+    <!-- Index joints -->
+    <position name="right_index_spread_position" joint="right_hand_index_spread" />
+    <position name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" />
+    <position name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" />
+    <position name="right_index_distal_position" joint="right_hand_j14" />
+
+    <!-- Middle joints -->
+    <position name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" />
+    <position name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" />
+    <position name="right_middle_distal_position" joint="right_hand_j15" />
   </actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/processed/oakink/assets/robots/xhand/MUJOCO_LOG.TXT b/processed/oakink/assets/robots/xhand/MUJOCO_LOG.TXT
new file mode 100644
index 0000000000000000000000000000000000000000..b050a6fb405ce7ea54ca27dd909330630da27ca6
--- /dev/null
+++ b/processed/oakink/assets/robots/xhand/MUJOCO_LOG.TXT
@@ -0,0 +1,3 @@
+Tue Jan 27 20:12:28 2026
+ERROR: could not initialize GLFW
+
diff --git a/processed/oakink/assets/robots/xhand/left.xml b/processed/oakink/assets/robots/xhand/left.xml
index c491ca77ca1d0e32d61fcef7f9780632788d673d..b7cb3c296f659650939eefa3b9f2f4ba982acca5 100644
--- a/processed/oakink/assets/robots/xhand/left.xml
+++ b/processed/oakink/assets/robots/xhand/left.xml
@@ -7,7 +7,7 @@
     <!-- with this setting, the response time is around 1s -->
     <position kp="300" dampratio="1.0" inheritrange="1" />
     <joint damping="0.0" armature="1.0" frictionloss="0.0" />
-    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+    <site size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
   </default>
 
   <asset>
@@ -71,7 +71,7 @@
                 />
                 <geom name="left_hand_link_visual" type="mesh" contype="0" conaffinity="0" group="1"
                   density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_link" />
-                <geom name="collision_hand_left_palm_0" type="box" size="0.03 0.02 0.04"
+                <geom name="collision_hand_left_palm_0" type="box" size="0.04 0.024 0.04"
                   pos="0 0 -0.06"
                   rgba="0 1 0 1" group="3" />
                 <site name="left_palm" pos="0 0 0" type="box" size="0.01 0.02 0.03" quat="0 1 -1 0" />
@@ -84,7 +84,7 @@
                   <geom name="left_thumb_bend_visual" type="mesh" contype="0" conaffinity="0"
                     group="1" density="0" rgba="0.890196 0.890196 0.913725 1"
                     mesh="left_hand_thumb_bend_link" />
-                  <geom name="collision_hand_left_thumb_2" type="capsule" size="0.008"
+                  <geom name="collision_hand_left_thumb_2" type="capsule" size="0.015"
                     fromto="0 0 0 0.02 0 0"
                     rgba="0 1 0 1" group="3" />
                   <body name="left_hand_thumb_rota_link1" pos="0.028599 -0.0083177 0.00178"
@@ -96,7 +96,7 @@
                       range="-1.05 1.57" />
                     <geom name="left_thumb_rota1_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1" />
-                    <geom name="collision_hand_left_thumb_1" type="capsule" size="0.01"
+                    <geom name="collision_hand_left_thumb_1" type="capsule" size="0.02"
                       fromto="0 0 0 0.055 0 0" rgba="0 1 0 1"
                       group="3" />
                     <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0">
@@ -114,9 +114,9 @@
                         group="3" />
                       <geom size="0.001" pos="0.0504017 0 0" contype="0" conaffinity="0" group="1"
                         density="0" rgba="0.698039 0.698039 0.698039 1" />
-                      <site name="left_thumb_tip" pos="0.045 0 -0.015" />
-                      <site name="track_hand_left_thumb_tip" pos="0.045 0 -0.015" />
-                      <site name="trace_hand_left_thumb_tip" pos="0.045 0 -0.015" />
+                      <site name="left_thumb_tip" pos="0.04 0 -0.012" />
+                      <site name="track_hand_left_thumb_tip" pos="0.04 0 -0.012" />
+                      <site name="trace_hand_left_thumb_tip" pos="0.04 0 -0.012" />
                     </body>
                   </body>
                 </body>
@@ -138,7 +138,7 @@
                     />
                     <geom name="left_index_rota1_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="1 1 1 1" mesh="left_hand_index_rota_link1" />
-                    <geom name="collision_hand_left_index_1" type="capsule" size="0.008"
+                    <geom name="collision_hand_left_index_1" type="capsule" size="0.012"
                       fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
                     <body name="left_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="0.000338569 -1.93676e-05 -0.0231329"
@@ -149,13 +149,13 @@
                       <geom name="left_index_rota2_visual" type="mesh" contype="0" conaffinity="0"
                         group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
                         mesh="left_hand_index_rota_link2" />
-                      <geom name="collision_hand_left_index_0" type="capsule" size="0.008"
+                      <geom name="collision_hand_left_index_0" type="capsule" size="0.01"
                         fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
                       <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
                         density="0" rgba="0.698039 0.698039 0.698039 1" />
-                      <site name="left_index_tip" pos="0 -0.005 -0.03" />
-                      <site name="track_hand_left_index_tip" pos="0 -0.005 -0.03" />
-                      <site name="trace_hand_left_index_tip" pos="0 -0.005 -0.03" />
+                      <site name="left_index_tip" pos="0 -0.004 -0.027" />
+                      <site name="track_hand_left_index_tip" pos="0 -0.004 -0.027" />
+                      <site name="trace_hand_left_index_tip" pos="0 -0.004 -0.027" />
                     </body>
                   </body>
                 </body>
@@ -167,7 +167,7 @@
                   />
                   <geom name="left_middle_link1_visual" type="mesh" contype="0" conaffinity="0"
                     group="1" density="0" rgba="1 1 1 1" mesh="left_hand_mid_link1" />
-                  <geom name="collision_hand_left_middle_1" type="capsule" size="0.008"
+                  <geom name="collision_hand_left_middle_1" type="capsule" size="0.012"
                     fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
                   <body name="left_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338572 -1.93625e-05 -0.0231328"
@@ -178,13 +178,13 @@
                     <geom name="left_middle_link2_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
                       mesh="left_hand_mid_link2" />
-                    <geom name="collision_hand_left_middle_0" type="capsule" size="0.008"
+                    <geom name="collision_hand_left_middle_0" type="capsule" size="0.01"
                       fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
                     <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
                       density="0" rgba="0.698039 0.698039 0.698039 1" />
-                    <site name="left_middle_tip" pos="0 -0.005 -0.03" />
-                    <site name="track_hand_left_middle_tip" pos="0 -0.005 -0.03" />
-                    <site name="trace_hand_left_middle_tip" pos="0 -0.005 -0.03" />
+                    <site name="left_middle_tip" pos="0 -0.004 -0.027" />
+                    <site name="track_hand_left_middle_tip" pos="0 -0.004 -0.027" />
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.004 -0.027" />
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
@@ -195,7 +195,7 @@
                   />
                   <geom name="left_ring_link1_visual" type="mesh" contype="0" conaffinity="0"
                     group="1" density="0" rgba="1 1 1 1" mesh="left_hand_ring_link1" />
-                  <geom name="collision_hand_left_ring_1" type="capsule" size="0.008"
+                  <geom name="collision_hand_left_ring_1" type="capsule" size="0.012"
                     fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
                   <body name="left_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338569 -1.93676e-05 -0.0231329"
@@ -206,13 +206,13 @@
                     <geom name="left_ring_link2_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
                       mesh="left_hand_ring_link2" />
-                    <geom name="collision_hand_left_ring_0" type="capsule" size="0.008"
+                    <geom name="collision_hand_left_ring_0" type="capsule" size="0.01"
                       fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
                     <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
                       density="0" rgba="0.698039 0.698039 0.698039 1" />
-                    <site name="left_ring_tip" pos="0 -0.005 -0.03" />
-                    <site name="track_hand_left_ring_tip" pos="0 -0.005 -0.03" />
-                    <site name="trace_hand_left_ring_tip" pos="0 -0.005 -0.03" />
+                    <site name="left_ring_tip" pos="0 -0.004 -0.027" />
+                    <site name="track_hand_left_ring_tip" pos="0 -0.004 -0.027" />
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.004 -0.027" />
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
@@ -223,7 +223,7 @@
                   />
                   <geom name="left_pinky_link1_visual" type="mesh" contype="0" conaffinity="0"
                     group="1" density="0" rgba="1 1 1 1" mesh="left_hand_pinky_link1" />
-                  <geom name="collision_hand_left_pinky_1" type="capsule" size="0.008"
+                  <geom name="collision_hand_left_pinky_1" type="capsule" size="0.012"
                     fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
                   <body name="left_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338573 -1.93618e-05 -0.0231328"
@@ -234,13 +234,13 @@
                     <geom name="left_pinky_link2_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
                       mesh="left_hand_pinky_link2" />
-                    <geom name="collision_hand_left_pinky_0" type="capsule" size="0.008"
+                    <geom name="collision_hand_left_pinky_0" type="capsule" size="0.01"
                       fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
                     <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
                       density="0" rgba="0.698039 0.698039 0.698039 1" />
-                    <site name="left_pinky_tip" pos="0 -0.005 -0.03" />
-                    <site name="track_hand_left_pinky_tip" pos="0 -0.005 -0.03" />
-                    <site name="trace_hand_left_pinky_tip" pos="0 -0.005 -0.03" />
+                    <site name="left_pinky_tip" pos="0 -0.004 -0.027" />
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.004 -0.027" />
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.004 -0.027" />
                   </body>
                 </body>
               </body>
diff --git a/processed/oakink/assets/robots/xhand/right.xml b/processed/oakink/assets/robots/xhand/right.xml
index 39b58f4e2f4388f01aa2f3a9aec51a675d5ff067..2e28636b928a4d9802792a97d77ee571aab467b4 100644
--- a/processed/oakink/assets/robots/xhand/right.xml
+++ b/processed/oakink/assets/robots/xhand/right.xml
@@ -7,7 +7,7 @@
     <!-- with this setting, the response time is around 1s -->
     <position kp="300" dampratio="1.0" inheritrange="1" />
     <joint damping="0.0" armature="1.0" frictionloss="0.0" />
-    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+    <site size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
   </default>
 
   <asset>
@@ -65,7 +65,7 @@
                 <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
                 <geom name="right_hand_link_visual" type="mesh" contype="0" conaffinity="0"
                   group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link" />
-                <geom name="collision_hand_right_palm_0" type="box" size="0.03 0.02 0.04"
+                <geom name="collision_hand_right_palm_0" type="box" size="0.04 0.024 0.04"
                   pos="0 0 -0.06"
                   rgba="0 1 0 1" group="3" />
                 <site name="right_palm" pos="0 0 0" type="box" size="0.01 0.02 0.03" quat="0 1 1 0" />
@@ -77,7 +77,7 @@
                   <geom name="right_thumb_bend_visual" type="mesh" contype="0" conaffinity="0"
                     group="1" density="0" rgba="0.890196 0.890196 0.913725 1"
                     mesh="right_hand_thumb_bend_link" />
-                  <geom name="collision_hand_right_thumb_2" type="capsule" size="0.008"
+                  <geom name="collision_hand_right_thumb_2" type="capsule" size="0.015"
                     fromto="0 0 0 0.02 0 0"
                     rgba="0 1 0 1" group="3" />
                   <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178"
@@ -89,7 +89,7 @@
                       range="-1.05 1.57" />
                     <geom name="right_thumb_rota1_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1" />
-                    <geom name="collision_hand_right_thumb_1" type="capsule" size="0.01"
+                    <geom name="collision_hand_right_thumb_1" type="capsule" size="0.02"
                       fromto="0 0 0 0.055 0 0" rgba="0 1 0 1"
                       group="3" />
                     <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
@@ -108,9 +108,9 @@
 
                       <geom size="0.001" pos="0.0504025 0 0" contype="0" conaffinity="0" group="1"
                         density="0" rgba="0.698039 0.698039 0.698039 1" />
-                      <site name="right_thumb_tip" pos="0.045 0 -0.015" />
-                      <site name="track_hand_right_thumb_tip" pos="0.045 0 -0.015" />
-                      <site name="trace_hand_right_thumb_tip" pos="0.045 0 -0.015" />
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012" />
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012" />
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012" />
                     </body>
                   </body>
                 </body>
@@ -131,7 +131,7 @@
                     />
                     <geom name="right_index_rota1_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1" />
-                    <geom name="collision_hand_right_index_1" type="capsule" size="0.008"
+                    <geom name="collision_hand_right_index_1" type="capsule" size="0.012"
                       fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
                     <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="-0.000338569 1.93676e-05 -0.0231329"
@@ -142,13 +142,13 @@
                       <geom name="right_index_rota2_visual" type="mesh" contype="0" conaffinity="0"
                         group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
                         mesh="right_hand_index_rota_link2" />
-                      <geom name="collision_hand_right_index_0" type="capsule" size="0.008"
+                      <geom name="collision_hand_right_index_0" type="capsule" size="0.01"
                         fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
                       <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
                         density="0" rgba="0.698039 0.698039 0.698039 1" />
-                      <site name="right_index_tip" pos="0 0.005 -0.03" />
-                      <site name="track_hand_right_index_tip" pos="0 0.005 -0.03" />
-                      <site name="trace_hand_right_index_tip" pos="0 0.005 -0.03" />
+                      <site name="right_index_tip" pos="0 0.004 -0.027" />
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027" />
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027" />
                     </body>
                   </body>
                 </body>
@@ -160,7 +160,7 @@
                   />
                   <geom name="right_middle_link1_visual" type="mesh" contype="0" conaffinity="0"
                     group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1" />
-                  <geom name="collision_hand_right_middle_1" type="capsule" size="0.008"
+                  <geom name="collision_hand_right_middle_1" type="capsule" size="0.012"
                     fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
                   <body name="right_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329"
@@ -171,13 +171,13 @@
                     <geom name="right_middle_link2_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
                       mesh="right_hand_mid_link2" />
-                    <geom name="collision_hand_right_middle_0" type="capsule" size="0.008"
+                    <geom name="collision_hand_right_middle_0" type="capsule" size="0.01"
                       fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
                     <geom size="0.001" pos="0 0 -0.042107" contype="0" conaffinity="0" group="1"
                       density="0" rgba="0.698039 0.698039 0.698039 1" />
-                    <site name="right_middle_tip" pos="0 0.005 -0.03" />
-                    <site name="track_hand_right_middle_tip" pos="0 0.005 -0.03" />
-                    <site name="trace_hand_right_middle_tip" pos="0 0.005 -0.03" />
+                    <site name="right_middle_tip" pos="0 0.004 -0.027" />
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027" />
+                    <site name="trace_hand_right_middle_tip" pos="0 0.004 -0.027" />
                   </body>
                 </body>
                 <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
@@ -188,7 +188,7 @@
                   />
                   <geom name="right_ring_link1_visual" type="mesh" contype="0" conaffinity="0"
                     group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1" />
-                  <geom name="collision_hand_right_ring_1" type="capsule" size="0.008"
+                  <geom name="collision_hand_right_ring_1" type="capsule" size="0.012"
                     fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
                   <body name="right_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338573 1.93622e-05 -0.0231328"
@@ -199,13 +199,13 @@
                     <geom name="right_ring_link2_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
                       mesh="right_hand_ring_link2" />
-                    <geom name="collision_hand_right_ring_0" type="capsule" size="0.008"
+                    <geom name="collision_hand_right_ring_0" type="capsule" size="0.01"
                       fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
                     <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
                       density="0" rgba="0.698039 0.698039 0.698039 1" />
-                    <site name="right_ring_tip" pos="0 0.005 -0.03" />
-                    <site name="track_hand_right_ring_tip" pos="0 0.005 -0.03" />
-                    <site name="trace_hand_right_ring_tip" pos="0 0.005 -0.03" />
+                    <site name="right_ring_tip" pos="0 0.004 -0.027" />
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027" />
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027" />
                   </body>
                 </body>
                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
@@ -216,7 +216,7 @@
                   />
                   <geom name="right_pinky_link1_visual" type="mesh" contype="0" conaffinity="0"
                     group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1" />
-                  <geom name="collision_hand_right_pinky_1" type="capsule" size="0.008"
+                  <geom name="collision_hand_right_pinky_1" type="capsule" size="0.012"
                     fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
                   <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329"
@@ -227,13 +227,13 @@
                     <geom name="right_pinky_link2_visual" type="mesh" contype="0" conaffinity="0"
                       group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
                       mesh="right_hand_pinky_link2" />
-                    <geom name="collision_hand_right_pinky_0" type="capsule" size="0.008"
+                    <geom name="collision_hand_right_pinky_0" type="capsule" size="0.01"
                       fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
                     <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
                       density="0" rgba="0.698039 0.698039 0.698039 1" />
-                    <site name="right_pinky_tip" pos="0 0.005 -0.03" />
-                    <site name="track_hand_right_pinky_tip" pos="0 0.005 -0.03" />
-                    <site name="trace_hand_right_pinky_tip" pos="0 0.005 -0.03" />
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027" />
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027" />
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027" />
                   </body>
                 </body>
               </body>
diff --git a/processed/oakink/inspire/bimanual/complete_data.csv b/processed/oakink/inspire/bimanual/complete_data.csv
index d2a3d453fb2fff47de94f04e6730bcea6597a16d..ce34ef46308e8bcaeb869579932e8ef47d58ae4b 100644
--- a/processed/oakink/inspire/bimanual/complete_data.csv
+++ b/processed/oakink/inspire/bimanual/complete_data.csv
@@ -1,8 +1,34 @@
-dataset,robot_type,hand_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
-oakink,inspire,bimanual,mjwpeq,wipe_board,0,wipe_board/0,0.05839278869506484,0.18220224953315375,0.08096792262600104,0.03581765476412864,0.32239571161859787,0.04200878744770964,True,0.1,0.5
-oakink,inspire,bimanual,mjwpeq,pour_tube,0,pour_tube/0,0.09235134802590544,0.7884399387857628,0.11474843570492499,0.06995426034688589,0.757596726372776,0.8192831511987497,False,0.1,0.5
-oakink,inspire,bimanual,mjwpeq,uncap_alcohol_burner,0,uncap_alcohol_burner/0,0.05584856231174014,0.21383052100485853,0.10017758154117046,0.011519543082309822,0.25795929029380626,0.1697017517159108,True,0.1,0.5
-oakink,inspire,bimanual,mjwpeq,lift_board,0,lift_board/0,0.20148575371036168,0.32118061586270474,0.20148575371036168,2.0409481338231565e-05,0.32118061586270474,5.8579943609257345e-06,False,0.1,0.5
-oakink,inspire,bimanual,mjwpeq,stir_beaker,0,stir_beaker/0,0.10769801743532337,0.5434907891497845,0.20770872304663793,0.007687311824008811,0.9438507103577944,0.1431308679417746,False,0.1,0.5
-oakink,inspire,bimanual,mjwpeq,pick_spoon_bowl,0,pick_spoon_bowl/0,0.06951923571366043,0.3230613127343557,0.127866393712733,0.011172077714587851,0.6246373969649418,0.02148522850376952,True,0.1,0.5
-oakink,inspire,bimanual,mjwpeq,unplug,0,unplug/0,0.0302487000356649,0.1626557255955209,0.05161393392137292,0.008883466149956878,0.13458896459503486,0.19072248659600696,True,0.1,0.5
+dataset,robot_type,embodiment_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
+oakink,inspire,bimanual,mjwp,uncap_alcohol_burner,0,uncap_alcohol_burner/0,0.04079000729566539,0.6686777617544598,0.04079000729566539,0.05498253297877939,0.6686777617544598,0.3670557277324187,False,0.1,0.5
+oakink,inspire,bimanual,mjwp,uncap_alcohol_burner,1,uncap_alcohol_burner/1,0.017918095576717124,0.4449986280056821,0.017918095576717124,0.04236110491291886,0.4449986280056821,0.8465628162833232,True,0.1,0.5
+oakink,inspire,bimanual,mjwp,uncap_alcohol_burner,2,uncap_alcohol_burner/2,0.018049129206339755,0.46284208986499936,0.018049129206339755,0.009465387446424894,0.46284208986499936,0.3076588856156079,True,0.1,0.5
+oakink,inspire,bimanual,mjwp,stir_beaker,0,stir_beaker/0,0.02288918867991889,0.49468774619705297,0.025968236443564243,0.019810140916273537,0.749896309165364,0.23947918322874195,True,0.1,0.5
+oakink,inspire,bimanual,mjwp,stir_beaker,1,stir_beaker/1,0.019416059789058387,0.4170417578879614,0.024644481733116827,0.01418763784499995,0.5717704005398269,0.2623131152360959,True,0.1,0.5
+oakink,inspire,bimanual,mjwp,stir_beaker,2,stir_beaker/2,0.025645775311213287,0.43433322913495886,0.032268251307407375,0.019023299315019202,0.6518692166738944,0.2167972415960233,True,0.1,0.5
+oakink,inspire,bimanual,mjwp,stir_beaker,3,stir_beaker/3,0.03186236068710576,0.5512112839672827,0.0478236926534998,0.01590102872071172,0.857333264552496,0.2450893033820693,False,0.1,0.5
+oakink,inspire,bimanual,mjwp,stir_beaker,4,stir_beaker/4,0.08044657413741359,0.925954139765486,0.027289368001721003,0.13360378027310618,1.3175904049641038,0.5343178745668683,False,0.1,0.5
+oakink,inspire,bimanual,mjwp,unplug,0,unplug/0,0.009184087724705817,0.19372704918089384,0.011643358312271243,0.00672481713714039,0.24530027598303286,0.1421538223787548,True,0.1,0.5
+oakink,inspire,bimanual,mjwp,unplug,1,unplug/1,0.009645532065674686,0.17596467138567223,0.011135809219080185,0.00815525491226919,0.23189054496528583,0.12003879780605864,True,0.1,0.5
+oakink,inspire,bimanual,mjwp,unplug,2,unplug/2,0.010572599741544644,0.1790691908405826,0.011058882304241903,0.010086317178847384,0.23160634910523561,0.12653203257592954,True,0.1,0.5
+oakink,inspire,bimanual,mjwp,unplug,3,unplug/3,0.04054155584743648,0.46373911930684925,0.0657198990813428,0.015363212613530155,0.8238535042528183,0.10362473436088011,True,0.1,0.5
+oakink,inspire,bimanual,mjwp,unplug,4,unplug/4,0.010877631503351831,0.17159825061879894,0.01198477831629776,0.009770484690405904,0.22510190383154108,0.11809459740605681,True,0.1,0.5
+oakink,inspire,bimanual,mjwp,pick_spoon_bowl,0,pick_spoon_bowl/0,0.05736686044832933,1.064557881307405,0.10719749798137299,0.007536222915285682,2.0920875107907007,0.03702825182410932,False,0.1,0.5
+oakink,inspire,bimanual,mjwp,pick_spoon_bowl,1,pick_spoon_bowl/1,0.053710053879793336,0.7214168322380012,0.10039738928073022,0.007022718478856455,1.4045082437492458,0.0383254207267567,False,0.1,0.5
+oakink,inspire,bimanual,mjwp,pick_spoon_bowl,2,pick_spoon_bowl/2,0.06559872810431876,0.6710033858666943,0.12143383202146292,0.009763624187174602,1.3104098737586571,0.03159689797473152,False,0.1,0.5
+oakink,inspire,bimanual,mjwp,pick_spoon_bowl,3,pick_spoon_bowl/3,0.06243754088035905,0.6663619667444857,0.11227859600725282,0.012596485753465274,1.2656540118716944,0.067069921617277,False,0.1,0.5
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+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/inspire/bimanual/lift_board/3/visualization_mjwp.mp4 b/processed/oakink/inspire/bimanual/lift_board/3/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..662dba3f9c65c42ecd749ab9b68b54df6aa338fb
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/lift_board/3/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/inspire/bimanual/lift_board/4/config.yaml b/processed/oakink/inspire/bimanual/lift_board/4/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..004b6ff87c843869762abe3f8b00f93b7aabcd89
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/lift_board/4/config.yaml
@@ -0,0 +1,92 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: lift_board
+seed: 4
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/lift_board/4/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/lift_board/4/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 472
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+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: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 55
+- 3
+- 6
+- 9
+- 12
+- 15
+- 19
+- 22
+- 25
+- 28
+- 31
+horizon_steps: 200
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 50
+nv: 48
+nu: 36
+npair: 517
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/lift_board/4
diff --git a/processed/oakink/inspire/bimanual/lift_board/4/trajectory_kinematic.npz b/processed/oakink/inspire/bimanual/lift_board/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a7ced3fc504927b18d9f8414555dad637f83f206
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/lift_board/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:050b9c6c1c5468e2d965d18a1dbb3bc915e900141a0f77d3daa241bb7a612719
+size 433260
diff --git a/processed/oakink/inspire/bimanual/lift_board/4/trajectory_mjwp.npz b/processed/oakink/inspire/bimanual/lift_board/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8804af7ac3659650f57b890a11caa3908e7af0eb
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/lift_board/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:953702c3d7bb08093858117af9e6f6d4c44b2746c836c4f61ee5644d57bb0913
+size 557374
diff --git a/processed/oakink/inspire/bimanual/lift_board/4/visualization_mjwp.mp4 b/processed/oakink/inspire/bimanual/lift_board/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..55a9b0d0c0b1bf1a8c569e57fdf382255a8db161
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/lift_board/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5721f84bd4f4704f91dadec20e5042b1cde4ee07fa6265db61d9583592825d1d
+size 889891
diff --git a/processed/oakink/inspire/bimanual/lift_board/scene.xml b/processed/oakink/inspire/bimanual/lift_board/scene.xml
index dd4548d25c4ef5bc5f10bbdf515f8c6a169bd32c..b702a58e18f264f74451a9b7c4c253f32cd85dc3 100644
--- a/processed/oakink/inspire/bimanual/lift_board/scene.xml
+++ b/processed/oakink/inspire/bimanual/lift_board/scene.xml
@@ -56,9 +56,21 @@
     <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
     <mesh name="right_0" file="objects/O02@0018@00001/convex/0.obj"/>
     <mesh name="right_1" file="objects/O02@0018@00001/convex/1.obj"/>
+    <mesh name="right_10" file="objects/O02@0018@00001/convex/10.obj"/>
+    <mesh name="right_11" file="objects/O02@0018@00001/convex/11.obj"/>
+    <mesh name="right_12" file="objects/O02@0018@00001/convex/12.obj"/>
+    <mesh name="right_13" file="objects/O02@0018@00001/convex/13.obj"/>
+    <mesh name="right_14" file="objects/O02@0018@00001/convex/14.obj"/>
+    <mesh name="right_15" file="objects/O02@0018@00001/convex/15.obj"/>
+    <mesh name="right_16" file="objects/O02@0018@00001/convex/16.obj"/>
     <mesh name="right_2" file="objects/O02@0018@00001/convex/2.obj"/>
     <mesh name="right_3" file="objects/O02@0018@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0018@00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0018@00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0018@00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0018@00001/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0018@00001/convex/8.obj"/>
+    <mesh name="right_9" file="objects/O02@0018@00001/convex/9.obj"/>
     <mesh name="right_visual" file="objects/O02@0018@00001/visual.obj"/>
   </asset>
 
@@ -289,24 +301,36 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <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_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_15"/>
+      <geom name="right_object_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_16"/>
+      <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"/>
+      <site name="track_object_right_thumb_tip" pos="0.0475256 0.0992082 -0.141567" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.000322079 0.0841274 -0.176095" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0024399 0.0708744 -0.184502" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0179018 0.0673458 -0.188854" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0527041 0.0682769 -0.196661" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.0346916 0.0966582 0.171445" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="-0.019677 0.0715001 0.187798" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="-0.00359232 0.0669317 0.188805" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0279011 0.0667714 0.190295" 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"/>
@@ -379,9 +403,21 @@
   <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_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_16" name="floor_right_object_16" 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"/>
@@ -400,9 +436,21 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_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_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_16" name="collision_hand_right_palm_0_right_object_16" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -411,9 +459,21 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
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     <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"/>
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+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_16" name="collision_hand_right_thumb_1_right_object_16" 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"/>
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     <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_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_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
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+    <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="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"/>
@@ -431,9 +491,21 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_16" name="collision_hand_right_thumb_0_right_object_16" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -442,9 +514,21 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_16" name="collision_hand_right_index_1_right_object_16" 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_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_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_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_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_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_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_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="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"/>
@@ -461,9 +545,21 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_16" name="collision_hand_right_index_0_right_object_16" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -472,9 +568,21 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_16" name="collision_hand_right_middle_1_right_object_16" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -490,9 +598,21 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_16" name="collision_hand_right_middle_0_right_object_16" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -501,9 +621,21 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_16" name="collision_hand_right_ring_1_right_object_16" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -518,9 +650,21 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_16" name="collision_hand_right_ring_0_right_object_16" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -529,9 +673,21 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_16" name="collision_hand_right_pinky_1_right_object_16" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -545,9 +701,21 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_16" name="collision_hand_right_pinky_0_right_object_16" 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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -555,69 +723,201 @@
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_16" name="collision_hand_left_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_16" name="collision_hand_left_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_16" name="collision_hand_left_thumb_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_15" name="collision_hand_left_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_16" name="collision_hand_left_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_16" name="collision_hand_left_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_16" name="collision_hand_left_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_16" name="collision_hand_left_middle_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_16" name="collision_hand_left_ring_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_16" name="collision_hand_left_ring_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_16" name="collision_hand_left_pinky_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_16" name="collision_hand_left_pinky_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/oakink/inspire/bimanual/lift_board/scene_eq.xml b/processed/oakink/inspire/bimanual/lift_board/scene_eq.xml
index fbc98e53d8b88516e56d458bb5b39632e379f92a..1cb53d41b657740a006f097813706e44dfd0fc04 100644
--- a/processed/oakink/inspire/bimanual/lift_board/scene_eq.xml
+++ b/processed/oakink/inspire/bimanual/lift_board/scene_eq.xml
@@ -56,9 +56,21 @@
     <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
     <mesh name="right_0" file="objects/O02@0018@00001/convex/0.obj"/>
     <mesh name="right_1" file="objects/O02@0018@00001/convex/1.obj"/>
+    <mesh name="right_10" file="objects/O02@0018@00001/convex/10.obj"/>
+    <mesh name="right_11" file="objects/O02@0018@00001/convex/11.obj"/>
+    <mesh name="right_12" file="objects/O02@0018@00001/convex/12.obj"/>
+    <mesh name="right_13" file="objects/O02@0018@00001/convex/13.obj"/>
+    <mesh name="right_14" file="objects/O02@0018@00001/convex/14.obj"/>
+    <mesh name="right_15" file="objects/O02@0018@00001/convex/15.obj"/>
+    <mesh name="right_16" file="objects/O02@0018@00001/convex/16.obj"/>
     <mesh name="right_2" file="objects/O02@0018@00001/convex/2.obj"/>
     <mesh name="right_3" file="objects/O02@0018@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0018@00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0018@00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0018@00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0018@00001/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0018@00001/convex/8.obj"/>
+    <mesh name="right_9" file="objects/O02@0018@00001/convex/9.obj"/>
     <mesh name="right_visual" file="objects/O02@0018@00001/visual.obj"/>
   </asset>
 
@@ -289,24 +301,36 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <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_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_15"/>
+      <geom name="right_object_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_16"/>
+      <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"/>
+      <site name="track_object_right_thumb_tip" pos="0.0475256 0.0992082 -0.141567" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.000322079 0.0841274 -0.176095" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0024399 0.0708744 -0.184502" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0179018 0.0673458 -0.188854" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0527041 0.0682769 -0.196661" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.0346916 0.0966582 0.171445" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="-0.019677 0.0715001 0.187798" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="-0.00359232 0.0669317 0.188805" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0279011 0.0667714 0.190295" 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"/>
@@ -379,9 +403,21 @@
   <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_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_16" name="floor_right_object_16" 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"/>
@@ -400,9 +436,21 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_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_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_16" name="collision_hand_right_palm_0_right_object_16" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -411,9 +459,21 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_16" name="collision_hand_right_thumb_1_right_object_16" 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_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_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_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_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_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_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_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="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"/>
@@ -431,9 +491,21 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_16" name="collision_hand_right_thumb_0_right_object_16" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -442,9 +514,21 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_16" name="collision_hand_right_index_1_right_object_16" 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_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_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_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_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_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_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_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="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"/>
@@ -461,9 +545,21 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_16" name="collision_hand_right_index_0_right_object_16" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -472,9 +568,21 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_16" name="collision_hand_right_middle_1_right_object_16" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -490,9 +598,21 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_16" name="collision_hand_right_middle_0_right_object_16" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -501,9 +621,21 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_16" name="collision_hand_right_ring_1_right_object_16" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -518,9 +650,21 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_16" name="collision_hand_right_ring_0_right_object_16" 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_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_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_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_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_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_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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -529,9 +673,21 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_16" name="collision_hand_right_pinky_1_right_object_16" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -545,9 +701,21 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_16" name="collision_hand_right_pinky_0_right_object_16" 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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -555,69 +723,201 @@
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_16" name="collision_hand_left_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_16" name="collision_hand_left_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_16" name="collision_hand_left_thumb_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_15" name="collision_hand_left_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_16" name="collision_hand_left_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_16" name="collision_hand_left_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_16" name="collision_hand_left_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
   </contact>
 
   <equality>
diff --git a/processed/oakink/inspire/bimanual/lift_board/task_info.json b/processed/oakink/inspire/bimanual/lift_board/task_info.json
index e1546f948a6546c705fb8598c7012c92fe4a8aa9..fbec3021d811d2f77571892ed2f32b12221718f3 100644
--- a/processed/oakink/inspire/bimanual/lift_board/task_info.json
+++ b/processed/oakink/inspire/bimanual/lift_board/task_info.json
@@ -2,9 +2,10 @@
   "task": "lift_board",
   "dataset_name": "oakink",
   "robot_type": "inspire",
-  "hand_type": "bimanual",
+  "embodiment_type": "bimanual",
   "data_id": 0,
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0018@00001",
   "left_object_mesh_dir": null,
+  "ref_dt": 0.02,
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/config.yaml b/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8c3652258ce78fdadd1a94d5f44b8240d38332ce
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: pick_spoon_bowl
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 3480
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+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: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 50
+- 3
+- 6
+- 9
+- 12
+- 15
+- 19
+- 22
+- 25
+- 28
+- 31
+horizon_steps: 200
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 50
+nv: 48
+nu: 36
+npair: 685
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/pick_spoon_bowl/0
diff --git a/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz b/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz
index f76e377bb8f6d38ace3e60ccd6e775398b51eb4c..75c87c409d927f202f34201f17b6676d2ed48919 100644
--- a/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz
+++ b/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ae1585f29ad0efcdf20ce78c22f6d40b276716b50fc9b733edee8efa7e6c5ef8
-size 696662
+oid sha256:316b85859428055009a0b532114bb69259bd510c1aa302f2946edf8e3ae8cec9
+size 696262
diff --git a/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz b/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
index 5f063b5d395c1770836f42bbc47dc22a7acf428a..2bcd3884f956c3533b0dd93c37e53d200bad0b11 100644
--- a/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
+++ b/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7df6ec96b007b341d94c6794eabda5669988b1b0377131b55e56e8eb99691cd0
-size 3178380
+oid sha256:d61c45e352f575225da73837e5d315b850b44a3cfef05a39229b04b269f6d7c1
+size 3176556
diff --git a/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/trajectory_mjwp.npz b/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/trajectory_mjwp.npz
index 4aa6ffdbd6982490aaa09e8ae7a28cd32cdfbf11..a07141a4e13b43d5442e71a226a89bc466cc35ab 100644
--- a/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/trajectory_mjwp.npz
+++ b/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/trajectory_mjwp.npz
@@ -1,3 +1,3 @@
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-size 3861538
+oid sha256:f2ece79fc3936fd88df491e2cd16c7f1f2898506fce32fc78b10d40c79515842
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 <mujoco model="bimanual">
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+      <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="-0.00682591 0.0121744 -0.0420295" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_index_tip" pos="-0.00191084 -0.00259587 -0.0370777" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.00721628 -0.0105786 -0.0250953" 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_middle_tip" pos="0.0164644 -0.00853783 -0.0262709" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.00495252 -0.0202771 -0.0173211" 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">
@@ -340,22 +357,23 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_thumb_tip" pos="-0.052259 -0.0330764 0.0415308" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_index_tip" pos="-0.0679741 -0.00481394 -0.00183686" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_middle_tip" pos="-0.0552835 -0.0234353 -0.0234553" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="-0.0604843 -0.0324865 -0.0268512" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="-0.0633333 -0.0293595 -0.0291899" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="-0.0823454 -0.0448743 -0.0422737" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -390,409 +408,691 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
+    <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_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"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_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_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_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_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_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_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_0" name="right_object_10_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_1" name="right_object_10_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_2" name="right_object_10_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_3" name="right_object_10_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_4" name="right_object_10_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_5" name="right_object_10_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_6" name="right_object_10_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_7" name="right_object_10_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_8" name="right_object_10_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_0" name="right_object_9_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_1" name="right_object_9_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_2" name="right_object_9_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_3" name="right_object_9_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_4" name="right_object_9_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_5" name="right_object_9_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_6" name="right_object_9_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_7" name="right_object_9_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_8" name="right_object_9_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/oakink/inspire/bimanual/pick_spoon_bowl/scene_eq.xml b/processed/oakink/inspire/bimanual/pick_spoon_bowl/scene_eq.xml
index 2b51d5ef1747c3595d2b9b1e432e4af89c4c8894..c711c530ef4078c7ea474e2454c692b272499150 100644
--- a/processed/oakink/inspire/bimanual/pick_spoon_bowl/scene_eq.xml
+++ b/processed/oakink/inspire/bimanual/pick_spoon_bowl/scene_eq.xml
@@ -1,7 +1,7 @@
 <mujoco model="bimanual">
   <compiler angle="radian" meshdir="../../../assets/"/>
 
-  <option timestep="0.01" iterations="10">
+  <option timestep="0.01" iterations="20">
     <flag eulerdamp="disable"/>
   </option>
 
@@ -56,7 +56,15 @@
     <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
     <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"/>
     <mesh name="left_0" file="objects/C12001/convex/0.obj"/>
     <mesh name="left_1" file="objects/C12001/convex/1.obj"/>
     <mesh name="left_2" file="objects/C12001/convex/2.obj"/>
@@ -65,6 +73,7 @@
     <mesh name="left_5" file="objects/C12001/convex/5.obj"/>
     <mesh name="left_6" file="objects/C12001/convex/6.obj"/>
     <mesh name="left_7" file="objects/C12001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/C12001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0030@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/C12001/visual.obj"/>
   </asset>
@@ -296,16 +305,24 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <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="-0.00682591 0.0121744 -0.0420295" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_index_tip" pos="-0.00191084 -0.00259587 -0.0370777" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.00721628 -0.0105786 -0.0250953" 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_middle_tip" pos="0.0164644 -0.00853783 -0.0262709" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.00495252 -0.0202771 -0.0173211" 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">
@@ -340,22 +357,23 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_thumb_tip" pos="-0.052259 -0.0330764 0.0415308" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_index_tip" pos="-0.0679741 -0.00481394 -0.00183686" group="4" rgba="0 1 0 1"/>
       <site name="track_object_left_middle_tip" pos="-0.0552835 -0.0234353 -0.0234553" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="-0.0604843 -0.0324865 -0.0268512" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="-0.0633333 -0.0293595 -0.0291899" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="-0.0823454 -0.0448743 -0.0422737" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -390,409 +408,691 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
+    <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_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"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_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_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_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_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_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_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_0" name="right_object_10_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_1" name="right_object_10_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_2" name="right_object_10_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_3" name="right_object_10_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_4" name="right_object_10_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_5" name="right_object_10_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_6" name="right_object_10_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_7" name="right_object_10_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_8" name="right_object_10_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_0" name="right_object_9_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_1" name="right_object_9_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_2" name="right_object_9_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_3" name="right_object_9_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_4" name="right_object_9_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_5" name="right_object_9_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_6" name="right_object_9_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_7" name="right_object_9_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_8" name="right_object_9_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
diff --git a/processed/oakink/inspire/bimanual/pick_spoon_bowl/task_info.json b/processed/oakink/inspire/bimanual/pick_spoon_bowl/task_info.json
index be0a4745c892278083f4be2c16459b038e3a8591..197fc7a211fab446db5a7912787b0d16f0bbd5a9 100644
--- a/processed/oakink/inspire/bimanual/pick_spoon_bowl/task_info.json
+++ b/processed/oakink/inspire/bimanual/pick_spoon_bowl/task_info.json
@@ -2,10 +2,11 @@
   "task": "pick_spoon_bowl",
   "dataset_name": "oakink",
   "robot_type": "inspire",
-  "hand_type": "bimanual",
+  "embodiment_type": "bimanual",
   "data_id": 0,
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0030@00002",
   "left_object_mesh_dir": "processed/oakink/assets/objects/C12001",
+  "ref_dt": 0.02,
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0030@00002/convex",
   "left_object_convex_dir": "processed/oakink/assets/objects/C12001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/pour_tube/0/config.yaml b/processed/oakink/inspire/bimanual/pour_tube/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1c582d9a24389d740f41ba0288dbae0a9c216aff
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pour_tube/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: pour_tube
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/pour_tube/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/pour_tube/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 1602
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+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: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
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@@ -294,14 +294,14 @@
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@@ -343,7 +343,7 @@
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diff --git a/processed/oakink/inspire/bimanual/pour_tube/scene_eq.xml b/processed/oakink/inspire/bimanual/pour_tube/scene_eq.xml
index 0752c7129716ff9522bd67d0cee67bf8ed559f71..26c2f15e6bdf80858e0214505cd9d84e795eaab1 100644
--- a/processed/oakink/inspire/bimanual/pour_tube/scene_eq.xml
+++ b/processed/oakink/inspire/bimanual/pour_tube/scene_eq.xml
@@ -54,17 +54,17 @@
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@@ -294,14 +294,14 @@
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diff --git a/processed/oakink/inspire/bimanual/stir_beaker/0/config.yaml b/processed/oakink/inspire/bimanual/stir_beaker/0/config.yaml
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diff --git a/processed/oakink/inspire/bimanual/stir_beaker/3/config.yaml b/processed/oakink/inspire/bimanual/stir_beaker/3/config.yaml
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+robot_type: inspire
+embodiment_type: bimanual
+task: stir_beaker
+seed: 3
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 3
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/stir_beaker/3/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/stir_beaker/3/trajectory_kinematic.npz
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+- 0.005
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+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/stir_beaker/3
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diff --git a/processed/oakink/inspire/bimanual/stir_beaker/4/config.yaml b/processed/oakink/inspire/bimanual/stir_beaker/4/config.yaml
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--- /dev/null
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+robot_type: inspire
+embodiment_type: bimanual
+task: stir_beaker
+seed: 4
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/stir_beaker/4/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/stir_beaker/4/trajectory_kinematic.npz
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+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/stir_beaker/4
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index 6baa4fcfe4270c4a1522075bf1b9f0f078f2561b..9c362083286b3f5b707c96472b02024cb2e22728 100644
--- a/processed/oakink/inspire/bimanual/stir_beaker/scene.xml
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     <mesh name="right_0" file="objects/O02@0033@00001/convex/0.obj"/>
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+    <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"/>
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@@ -63,6 +71,7 @@
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     <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
     <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/C11001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/C11001/visual.obj"/>
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@@ -294,7 +303,15 @@
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+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
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+      <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"/>
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@@ -336,14 +353,15 @@
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       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
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@@ -387,6 +405,14 @@
 
   <contact>
     <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
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+    <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"/>
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@@ -395,6 +421,7 @@
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     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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"/>
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     <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"/>
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+    <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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -420,6 +455,7 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -427,6 +463,14 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -435,6 +479,7 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_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"/>
@@ -451,6 +496,14 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -459,6 +512,7 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -466,6 +520,14 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -474,6 +536,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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"/>
@@ -489,6 +552,14 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_index_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -497,6 +568,7 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -504,6 +576,14 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -512,6 +592,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -526,6 +607,14 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -534,6 +623,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -541,6 +631,14 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -549,6 +647,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -562,6 +661,14 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -570,6 +677,7 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -577,6 +685,14 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -585,6 +701,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -597,6 +714,14 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -605,12 +730,21 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -619,7 +753,16 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -628,11 +771,20 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -641,7 +793,16 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -650,10 +811,19 @@
     <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -662,7 +832,16 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -671,9 +850,18 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -682,7 +870,16 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -691,8 +888,17 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -701,7 +907,16 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -710,7 +925,16 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -719,6 +943,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -727,6 +952,79 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/oakink/inspire/bimanual/stir_beaker/scene_eq.xml b/processed/oakink/inspire/bimanual/stir_beaker/scene_eq.xml
index c5de61e5fc0a40e507e36de04aa1092638cdf32e..1eac55adc6ed8107acf49e459d1a48fc424f868c 100644
--- a/processed/oakink/inspire/bimanual/stir_beaker/scene_eq.xml
+++ b/processed/oakink/inspire/bimanual/stir_beaker/scene_eq.xml
@@ -55,6 +55,14 @@
     <mesh name="Link21_L" content_type="model/stl" file="robots/inspire/assets/Link21_L.STL"/>
     <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
     <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"/>
     <mesh name="left_0" file="objects/C11001/convex/0.obj"/>
     <mesh name="left_1" file="objects/C11001/convex/1.obj"/>
     <mesh name="left_2" file="objects/C11001/convex/2.obj"/>
@@ -63,6 +71,7 @@
     <mesh name="left_5" file="objects/C11001/convex/5.obj"/>
     <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
     <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/C11001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/C11001/visual.obj"/>
   </asset>
@@ -294,7 +303,15 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <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"/>
@@ -336,14 +353,15 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
@@ -387,6 +405,14 @@
 
   <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -395,6 +421,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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"/>
@@ -412,6 +439,14 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_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_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -420,6 +455,7 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -427,6 +463,14 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -435,6 +479,7 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_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"/>
@@ -451,6 +496,14 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -459,6 +512,7 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -466,6 +520,14 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -474,6 +536,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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"/>
@@ -489,6 +552,14 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_index_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -497,6 +568,7 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -504,6 +576,14 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -512,6 +592,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -526,6 +607,14 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -534,6 +623,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -541,6 +631,14 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -549,6 +647,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -562,6 +661,14 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -570,6 +677,7 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -577,6 +685,14 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -585,6 +701,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -597,6 +714,14 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -605,12 +730,21 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -619,7 +753,16 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -628,11 +771,20 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -641,7 +793,16 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -650,10 +811,19 @@
     <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -662,7 +832,16 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -671,9 +850,18 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -682,7 +870,16 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -691,8 +888,17 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -701,7 +907,16 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -710,7 +925,16 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -719,6 +943,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -727,6 +952,79 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
diff --git a/processed/oakink/inspire/bimanual/summary.csv b/processed/oakink/inspire/bimanual/summary.csv
index bb3ec9a24b685afadee4ece787f2a8618a93b5c3..4bf84be1e000619a762eb9784c8812cfa1d2cead 100644
--- a/processed/oakink/inspire/bimanual/summary.csv
+++ b/processed/oakink/inspire/bimanual/summary.csv
@@ -1,8 +1,48 @@
-task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,pos_err_threshold,quat_err_threshold,timestamp,data_type,data_id,obj_pos_err,obj_quat_err,success
-wipe_board,1,1,1.0,0.05839278869506484,0.0,0.18220224953315375,0.0,oakink,inspire,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.05839278869506484,0.18220224953315375,True
-pour_tube,1,0,0.0,0.09235134802590544,0.0,0.7884399387857628,0.0,oakink,inspire,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.09235134802590544,0.7884399387857628,False
-uncap_alcohol_burner,1,1,1.0,0.05584856231174014,0.0,0.21383052100485853,0.0,oakink,inspire,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.05584856231174014,0.21383052100485853,True
-lift_board,1,0,0.0,0.20148575371036168,0.0,0.32118061586270474,0.0,oakink,inspire,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.20148575371036168,0.32118061586270474,False
-stir_beaker,1,0,0.0,0.10769801743532337,0.0,0.5434907891497845,0.0,oakink,inspire,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.10769801743532337,0.5434907891497845,False
-pick_spoon_bowl,1,1,1.0,0.06951923571366043,0.0,0.3230613127343557,0.0,oakink,inspire,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.06951923571366043,0.3230613127343557,True
-unplug,1,1,1.0,0.0302487000356649,0.0,0.1626557255955209,0.0,oakink,inspire,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.0302487000356649,0.1626557255955209,True
+dataset,robot_type,embodiment_type,data_type,task,data_id,obj_pos_err,obj_quat_err,success,pos_err_threshold,quat_err_threshold,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,timestamp
+oakink,inspire,bimanual,mjwp,uncap_alcohol_burner,0,0.0307649853331869,0.1808009766491127,True,0.1,0.6,1,1,1.0,0.0307649853331869,0.0,0.1808009766491127,0.0,2026-01-27 20:13:47
+oakink,inspire,bimanual,mjwp,uncap_alcohol_burner,1,0.0179180955767171,0.4449986280056821,True,0.1,0.6,1,1,1.0,0.0179180955767171,0.0,0.4449986280056821,0.0,2026-01-27 20:13:47
+oakink,inspire,bimanual,mjwp,stir_beaker,0,0.0667314140882303,0.4881685410794601,True,0.1,0.6,1,1,1.0,0.0667314140882303,0.0,0.4881685410794601,0.0,2026-01-27 20:13:47
+oakink,inspire,bimanual,mjwp,stir_beaker,1,0.0194160597890583,0.4170417578879614,True,0.1,0.6,1,1,1.0,0.0194160597890583,0.0,0.4170417578879614,0.0,2026-01-27 20:13:47
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diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/config.yaml b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/config.yaml
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index 0000000000000000000000000000000000000000..60f5221bec66e02dbb2aadb60540a71ae2468933
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/config.yaml
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+robot_type: inspire
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+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0
diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz
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+dataset_name: oakink
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+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/uncap_alcohol_burner/2/../scene.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/uncap_alcohol_burner/2/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.8
+knot_dt: 0.4
+max_sim_steps: 200
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 1
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
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+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: mujoco-rerun
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 50
+- 3
+- 6
+- 9
+- 12
+- 15
+- 19
+- 22
+- 25
+- 28
+- 31
+horizon_steps: 80
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 50
+nv: 48
+nu: 36
+npair: 496
+beta_traj: 0.930572040929699
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/uncap_alcohol_burner/2
diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/2/trajectory_kinematic.npz b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/2/trajectory_kinematic.npz
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--- /dev/null
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/2/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 185196
diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/2/trajectory_mjwp.npz b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/2/trajectory_mjwp.npz
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index 0000000000000000000000000000000000000000..e16bc6575f9f1b9d29dabca11524a8067b547638
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/2/trajectory_mjwp.npz
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diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/2/visualization_mjwp.mp4 b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/2/visualization_mjwp.mp4
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--- /dev/null
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+size 292353
diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/3/trajectory_kinematic.npz b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/3/trajectory_kinematic.npz
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--- /dev/null
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/3/trajectory_kinematic.npz
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+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/4/trajectory_kinematic.npz b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/4/trajectory_kinematic.npz
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/scene.xml b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/scene.xml
index b76f2a2b33f571448ef5c1e172e12261cfebef7c..254acd294b23452fa8484b27e1049d4f3b03462e 100644
--- a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/scene.xml
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/scene.xml
@@ -60,12 +60,14 @@
     <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj"/>
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     <mesh name="left_2" file="objects/O02@0206@00002/convex/2.obj"/>
     <mesh name="left_3" file="objects/O02@0206@00002/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0206@00002/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0206@00002/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0206@00002/convex/6.obj"/>
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     <mesh name="right_visual" file="objects/O02@0206@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0206@00002/visual.obj"/>
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@@ -297,14 +299,12 @@
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-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
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+      <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_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"/>
@@ -346,10 +346,14 @@
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+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
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@@ -398,12 +402,14 @@
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     <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
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@@ -426,12 +432,14 @@
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     <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
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@@ -444,12 +452,14 @@
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     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
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@@ -471,12 +481,14 @@
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@@ -489,12 +501,14 @@
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     <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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" 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"/>
@@ -515,12 +529,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -533,12 +549,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" 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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -558,12 +576,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -576,12 +596,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" 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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -600,12 +622,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -618,12 +642,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -641,12 +667,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -658,24 +686,28 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -686,24 +718,28 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -713,24 +749,28 @@
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
@@ -739,24 +779,28 @@
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
@@ -764,68 +808,90 @@
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/scene_eq.xml b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/scene_eq.xml
index eaf9381ec48936eb5a5a487627412d82140904b5..b3dec6b333f97723659c95a8d712f1a45fc414ac 100644
--- a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/scene_eq.xml
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/scene_eq.xml
@@ -60,12 +60,14 @@
     <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj"/>
     <mesh name="right_5" file="objects/O02@0206@00001/convex/5.obj"/>
-    <mesh name="right_6" file="objects/O02@0206@00001/convex/6.obj"/>
-    <mesh name="right_7" file="objects/O02@0206@00001/convex/7.obj"/>
     <mesh name="left_0" file="objects/O02@0206@00002/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0206@00002/convex/1.obj"/>
     <mesh name="left_2" file="objects/O02@0206@00002/convex/2.obj"/>
     <mesh name="left_3" file="objects/O02@0206@00002/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0206@00002/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0206@00002/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0206@00002/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0206@00002/convex/7.obj"/>
     <mesh name="right_visual" file="objects/O02@0206@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0206@00002/visual.obj"/>
   </asset>
@@ -297,14 +299,12 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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"/>
@@ -346,10 +346,14 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
@@ -398,12 +402,14 @@
     <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" 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"/>
@@ -426,12 +432,14 @@
     <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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -444,12 +452,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" 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"/>
@@ -471,12 +481,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -489,12 +501,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" 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"/>
@@ -515,12 +529,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -533,12 +549,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" 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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -558,12 +576,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -576,12 +596,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" 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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -600,12 +622,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -618,12 +642,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -641,12 +667,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -658,24 +686,28 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -686,24 +718,28 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -713,24 +749,28 @@
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
@@ -739,24 +779,28 @@
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
@@ -764,68 +808,90 @@
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
diff --git a/processed/oakink/inspire/bimanual/unplug/0/config.yaml b/processed/oakink/inspire/bimanual/unplug/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8bac1c5976bd65c4f1f8ee8c4e63b851ac7d5103
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: unplug
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
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diff --git a/processed/oakink/inspire/bimanual/unplug/4/config.yaml b/processed/oakink/inspire/bimanual/unplug/4/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d35717f1bfd0fec47ad674d8b2347b8d56c70d21
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/4/config.yaml
@@ -0,0 +1,92 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: unplug
+seed: 4
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 4
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/unplug/4/../scene.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/unplug/4/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.8
+knot_dt: 0.4
+max_sim_steps: 582
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 1
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+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: mujoco-rerun
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 50
+- 3
+- 6
+- 9
+- 12
+- 15
+- 19
+- 22
+- 25
+- 28
+- 31
+horizon_steps: 80
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 50
+nv: 48
+nu: 36
+npair: 621
+beta_traj: 0.930572040929699
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/unplug/4
diff --git a/processed/oakink/inspire/bimanual/unplug/4/trajectory_kinematic.npz b/processed/oakink/inspire/bimanual/unplug/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5ce5e85e9b78add50f4cffecfded5d19f4e85601
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2f753fdf52f0f5e5cff2966db062937d592ebc36ecaed78fe8bc373d8dde29e
+size 533580
diff --git a/processed/oakink/inspire/bimanual/unplug/4/trajectory_mjwp.npz b/processed/oakink/inspire/bimanual/unplug/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..678cd99b58503082ae496c9dfc7deacccd8e3e7c
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8b3752d1fa7099110f817c4bfdf98c2c77f298fdae227c50e20b3503357e787
+size 695062
diff --git a/processed/oakink/inspire/bimanual/unplug/4/visualization_mjwp.mp4 b/processed/oakink/inspire/bimanual/unplug/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0071bfa2f820f03d45f3b20cc1b79e2811f407f
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53e11fb1dd7e4b207b762d658f2e1714c812ae6693122195818fc8e6b83a8cca
+size 1341842
diff --git a/processed/oakink/inspire/bimanual/unplug/scene.xml b/processed/oakink/inspire/bimanual/unplug/scene.xml
index 6d6de468e0294250d31c896c794c6b77a3633373..6c6c16af38b0a45ded5697cec204a76a69370cff 100644
--- a/processed/oakink/inspire/bimanual/unplug/scene.xml
+++ b/processed/oakink/inspire/bimanual/unplug/scene.xml
@@ -62,6 +62,7 @@
     <mesh name="right_5" file="objects/O02@0047@00002/convex/5.obj"/>
     <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
     <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0047@00002/convex/8.obj"/>
     <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
     <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
@@ -70,6 +71,7 @@
     <mesh name="left_5" file="objects/O02@0047@00001/convex/5.obj"/>
     <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
     <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/O02@0047@00001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
   </asset>
@@ -301,14 +303,15 @@
     </body>
     <body name="right_object">
       <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
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-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
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-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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"/>
@@ -350,14 +353,15 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
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-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
@@ -408,6 +412,7 @@
     <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -416,6 +421,7 @@
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     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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"/>
@@ -440,6 +446,7 @@
     <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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -448,6 +455,7 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
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@@ -462,6 +470,7 @@
     <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_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_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_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
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@@ -470,6 +479,7 @@
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     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
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@@ -493,6 +503,7 @@
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     <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_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
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@@ -501,6 +512,7 @@
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@@ -515,6 +527,7 @@
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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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@@ -523,6 +536,7 @@
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     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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"/>
@@ -545,6 +559,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -553,6 +568,7 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -567,6 +583,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -575,6 +592,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -596,6 +614,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -604,6 +623,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -618,6 +638,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -626,6 +647,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -646,6 +668,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -654,6 +677,7 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -668,6 +692,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -676,6 +701,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -695,6 +721,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -703,6 +730,7 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -716,6 +744,7 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -724,6 +753,7 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -732,6 +762,7 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -740,6 +771,7 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -752,6 +784,7 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -760,6 +793,7 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -768,6 +802,7 @@
     <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -776,6 +811,7 @@
     <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -787,6 +823,7 @@
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -795,6 +832,7 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -803,6 +841,7 @@
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -811,6 +850,7 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
@@ -821,6 +861,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -829,6 +870,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -837,6 +879,7 @@
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -845,6 +888,7 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
@@ -854,6 +898,7 @@
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -862,6 +907,7 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -870,6 +916,7 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -878,6 +925,7 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
@@ -886,6 +934,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -894,6 +943,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -902,6 +952,7 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -910,6 +961,7 @@
     <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -918,6 +970,7 @@
     <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -926,6 +979,7 @@
     <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -934,6 +988,7 @@
     <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -942,6 +997,7 @@
     <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -950,6 +1006,7 @@
     <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -958,6 +1015,16 @@
     <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/oakink/inspire/bimanual/unplug/scene_eq.xml b/processed/oakink/inspire/bimanual/unplug/scene_eq.xml
index 76cfc9ccb3748b18e95bd8932f878a7f70c0a6de..b503c017f502b9e34709f8aa4d2198f507630371 100644
--- a/processed/oakink/inspire/bimanual/unplug/scene_eq.xml
+++ b/processed/oakink/inspire/bimanual/unplug/scene_eq.xml
@@ -62,6 +62,7 @@
     <mesh name="right_5" file="objects/O02@0047@00002/convex/5.obj"/>
     <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
     <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0047@00002/convex/8.obj"/>
     <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
     <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
@@ -70,6 +71,7 @@
     <mesh name="left_5" file="objects/O02@0047@00001/convex/5.obj"/>
     <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
     <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/O02@0047@00001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
   </asset>
@@ -301,14 +303,15 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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"/>
@@ -350,14 +353,15 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
@@ -408,6 +412,7 @@
     <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -416,6 +421,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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"/>
@@ -440,6 +446,7 @@
     <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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -448,6 +455,7 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -462,6 +470,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -470,6 +479,7 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_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"/>
@@ -493,6 +503,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -501,6 +512,7 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -515,6 +527,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -523,6 +536,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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"/>
@@ -545,6 +559,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -553,6 +568,7 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -567,6 +583,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -575,6 +592,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -596,6 +614,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -604,6 +623,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -618,6 +638,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -626,6 +647,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -646,6 +668,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -654,6 +677,7 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -668,6 +692,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -676,6 +701,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -695,6 +721,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -703,6 +730,7 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -716,6 +744,7 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -724,6 +753,7 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -732,6 +762,7 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -740,6 +771,7 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -752,6 +784,7 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -760,6 +793,7 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -768,6 +802,7 @@
     <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -776,6 +811,7 @@
     <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -787,6 +823,7 @@
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -795,6 +832,7 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -803,6 +841,7 @@
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -811,6 +850,7 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
@@ -821,6 +861,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -829,6 +870,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -837,6 +879,7 @@
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -845,6 +888,7 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
@@ -854,6 +898,7 @@
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -862,6 +907,7 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -870,6 +916,7 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -878,6 +925,7 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
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@@ -886,6 +934,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
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@@ -894,6 +943,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
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     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -902,6 +952,7 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -910,6 +961,7 @@
     <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -918,6 +970,7 @@
     <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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@@ -926,6 +979,7 @@
     <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
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@@ -934,6 +988,7 @@
     <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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@@ -942,6 +997,7 @@
     <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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@@ -950,6 +1006,7 @@
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+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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@@ -958,6 +1015,16 @@
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     <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
diff --git a/processed/oakink/inspire/bimanual/wipe_board/0/config.yaml b/processed/oakink/inspire/bimanual/wipe_board/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..dc72e65b1e97153d24ee1ad66acab08da1fad0db
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/wipe_board/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: wipe_board
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/wipe_board/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/wipe_board/0/trajectory_kinematic.npz
+simulator: mjwp
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+- -0.005
+- 0.005
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+- -0.005
+- 0.005
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+temperature: 1.0
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+trace_dt: 0.02
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+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/wipe_board/0
diff --git a/processed/oakink/inspire/bimanual/wipe_board/0/trajectory_ikrollout.npz b/processed/oakink/inspire/bimanual/wipe_board/0/trajectory_ikrollout.npz
index 1cab07854681d92e0cc4ae68851717e1ba05c72a..6e600128ec7802229b5a0f03c3b43be9aa054160 100644
--- a/processed/oakink/inspire/bimanual/wipe_board/0/trajectory_ikrollout.npz
+++ b/processed/oakink/inspire/bimanual/wipe_board/0/trajectory_ikrollout.npz
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diff --git a/processed/oakink/inspire/bimanual/wipe_board/0/trajectory_kinematic.npz b/processed/oakink/inspire/bimanual/wipe_board/0/trajectory_kinematic.npz
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--- a/processed/oakink/inspire/bimanual/wipe_board/0/trajectory_kinematic.npz
+++ b/processed/oakink/inspire/bimanual/wipe_board/0/trajectory_kinematic.npz
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diff --git a/processed/oakink/inspire/bimanual/wipe_board/0/trajectory_mjwp.npz b/processed/oakink/inspire/bimanual/wipe_board/0/trajectory_mjwp.npz
index a2e2a7687554aa1e9e7636184e34449a60b3916f..4213f637b7152c3dcd59692fdbe497d8982f01a6 100644
--- a/processed/oakink/inspire/bimanual/wipe_board/0/trajectory_mjwp.npz
+++ b/processed/oakink/inspire/bimanual/wipe_board/0/trajectory_mjwp.npz
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diff --git a/processed/oakink/inspire/bimanual/wipe_board/0/visualization_ik.mp4 b/processed/oakink/inspire/bimanual/wipe_board/0/visualization_ik.mp4
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diff --git a/processed/oakink/inspire/bimanual/wipe_board/1/config.yaml b/processed/oakink/inspire/bimanual/wipe_board/1/config.yaml
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index 0000000000000000000000000000000000000000..43be61b95dd5441168d437dff4bffe340b2ba2cf
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/wipe_board/1/config.yaml
@@ -0,0 +1,91 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: wipe_board
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 1
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/wipe_board/1/../scene.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/wipe_board/1/trajectory_kinematic.npz
+simulator: mjwp
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+- -0.005
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 <mujoco model="bimanual">
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     <mesh name="left_7" file="objects/O02@0054@00001/convex/7.obj"/>
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+      <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_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"/>
@@ -336,14 +362,26 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_10"/>
+      <geom name="left_object_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_11"/>
+      <geom name="left_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_12"/>
+      <geom name="left_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_13"/>
+      <geom name="left_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_14"/>
+      <geom name="left_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_15"/>
+      <geom name="left_object_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_16"/>
+      <geom name="left_object_17" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_17"/>
+      <geom name="left_object_18" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_18"/>
+      <geom name="left_object_19" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_19"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
+      <geom name="left_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_9"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
@@ -386,347 +424,936 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
+    <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_10" name="floor_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_11" name="floor_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_12" name="floor_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_13" name="floor_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_14" name="floor_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_15" name="floor_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_16" name="floor_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_17" name="floor_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_18" name="floor_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_19" name="floor_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_9" name="floor_left_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="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_10" name="collision_hand_right_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_11" name="collision_hand_right_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_12" name="collision_hand_right_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_13" name="collision_hand_right_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_14" name="collision_hand_right_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_15" name="collision_hand_right_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_16" name="collision_hand_right_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_17" name="collision_hand_right_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_18" name="collision_hand_right_palm_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_19" name="collision_hand_right_palm_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_9" name="collision_hand_right_palm_0_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_10" name="collision_hand_right_thumb_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_11" name="collision_hand_right_thumb_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_12" name="collision_hand_right_thumb_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_13" name="collision_hand_right_thumb_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_14" name="collision_hand_right_thumb_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_15" name="collision_hand_right_thumb_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_16" name="collision_hand_right_thumb_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_17" name="collision_hand_right_thumb_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_18" name="collision_hand_right_thumb_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_19" name="collision_hand_right_thumb_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_9" name="collision_hand_right_thumb_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_10" name="collision_hand_right_middle_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_11" name="collision_hand_right_middle_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_12" name="collision_hand_right_middle_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_13" name="collision_hand_right_middle_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_14" name="collision_hand_right_middle_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_15" name="collision_hand_right_middle_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_16" name="collision_hand_right_middle_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_17" name="collision_hand_right_middle_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_18" name="collision_hand_right_middle_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_19" name="collision_hand_right_middle_1_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_9" name="collision_hand_right_middle_1_left_object_9" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
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+    <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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_10" name="collision_hand_right_middle_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_11" name="collision_hand_right_middle_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_12" name="collision_hand_right_middle_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_13" name="collision_hand_right_middle_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_14" name="collision_hand_right_middle_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_15" name="collision_hand_right_middle_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_16" name="collision_hand_right_middle_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_17" name="collision_hand_right_middle_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_18" name="collision_hand_right_middle_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_19" name="collision_hand_right_middle_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_9" name="collision_hand_right_middle_0_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_10" name="collision_hand_right_ring_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_11" name="collision_hand_right_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_12" name="collision_hand_right_ring_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_13" name="collision_hand_right_ring_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_14" name="collision_hand_right_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_15" name="collision_hand_right_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_16" name="collision_hand_right_ring_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_17" name="collision_hand_right_ring_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_18" name="collision_hand_right_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_19" name="collision_hand_right_ring_1_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_9" name="collision_hand_right_ring_1_left_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"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_10" name="collision_hand_right_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_11" name="collision_hand_right_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_12" name="collision_hand_right_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_13" name="collision_hand_right_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_14" name="collision_hand_right_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_15" name="collision_hand_right_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_16" name="collision_hand_right_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_17" name="collision_hand_right_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_18" name="collision_hand_right_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_19" name="collision_hand_right_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_9" name="collision_hand_right_ring_0_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_10" name="collision_hand_right_pinky_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_11" name="collision_hand_right_pinky_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_12" name="collision_hand_right_pinky_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_13" name="collision_hand_right_pinky_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_14" name="collision_hand_right_pinky_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_15" name="collision_hand_right_pinky_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_16" name="collision_hand_right_pinky_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_17" name="collision_hand_right_pinky_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_18" name="collision_hand_right_pinky_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_19" name="collision_hand_right_pinky_1_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_9" name="collision_hand_right_pinky_1_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_10" name="collision_hand_right_pinky_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_11" name="collision_hand_right_pinky_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_12" name="collision_hand_right_pinky_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_13" name="collision_hand_right_pinky_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_14" name="collision_hand_right_pinky_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_15" name="collision_hand_right_pinky_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_16" name="collision_hand_right_pinky_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_17" name="collision_hand_right_pinky_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_18" name="collision_hand_right_pinky_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_19" name="collision_hand_right_pinky_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_9" name="collision_hand_right_pinky_0_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_10" name="collision_hand_left_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_11" name="collision_hand_left_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_12" name="collision_hand_left_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_13" name="collision_hand_left_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_14" name="collision_hand_left_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_15" name="collision_hand_left_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_16" name="collision_hand_left_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_17" name="collision_hand_left_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_18" name="collision_hand_left_palm_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_19" name="collision_hand_left_palm_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_9" name="collision_hand_left_palm_0_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_10" name="collision_hand_left_thumb_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_11" name="collision_hand_left_thumb_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_12" name="collision_hand_left_thumb_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_13" name="collision_hand_left_thumb_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_14" name="collision_hand_left_thumb_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_15" name="collision_hand_left_thumb_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_16" name="collision_hand_left_thumb_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_17" name="collision_hand_left_thumb_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_18" name="collision_hand_left_thumb_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_19" name="collision_hand_left_thumb_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_13" name="collision_hand_left_middle_0_left_object_13" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_15" name="collision_hand_left_middle_0_left_object_15" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_17" name="collision_hand_left_middle_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_18" name="collision_hand_left_middle_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_19" name="collision_hand_left_middle_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_9" name="collision_hand_left_middle_0_left_object_9" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_10" name="collision_hand_left_ring_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_11" name="collision_hand_left_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_12" name="collision_hand_left_ring_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_13" name="collision_hand_left_ring_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_14" name="collision_hand_left_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_15" name="collision_hand_left_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_16" name="collision_hand_left_ring_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_17" name="collision_hand_left_ring_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_18" name="collision_hand_left_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_19" name="collision_hand_left_ring_1_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_9" name="collision_hand_left_ring_1_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_10" name="collision_hand_left_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_11" name="collision_hand_left_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_12" name="collision_hand_left_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_13" name="collision_hand_left_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_14" name="collision_hand_left_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_15" name="collision_hand_left_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_16" name="collision_hand_left_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_17" name="collision_hand_left_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_18" name="collision_hand_left_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_19" name="collision_hand_left_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_9" name="collision_hand_left_ring_0_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_10" name="collision_hand_left_pinky_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_11" name="collision_hand_left_pinky_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_12" name="collision_hand_left_pinky_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_13" name="collision_hand_left_pinky_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_14" name="collision_hand_left_pinky_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_15" name="collision_hand_left_pinky_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_16" name="collision_hand_left_pinky_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_17" name="collision_hand_left_pinky_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_18" name="collision_hand_left_pinky_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_19" name="collision_hand_left_pinky_1_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_9" name="collision_hand_left_pinky_1_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_10" name="collision_hand_left_pinky_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_11" name="collision_hand_left_pinky_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_12" name="collision_hand_left_pinky_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_13" name="collision_hand_left_pinky_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_14" name="collision_hand_left_pinky_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_15" name="collision_hand_left_pinky_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_16" name="collision_hand_left_pinky_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_17" name="collision_hand_left_pinky_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_18" name="collision_hand_left_pinky_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_19" name="collision_hand_left_pinky_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_9" name="right_object_7_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/oakink/inspire/bimanual/wipe_board/scene_eq.xml b/processed/oakink/inspire/bimanual/wipe_board/scene_eq.xml
index 9bb373cf76fd5a2af6e1463865f29c16c4777450..96626fb391d51fcc1114a47f0764073f1164136a 100644
--- a/processed/oakink/inspire/bimanual/wipe_board/scene_eq.xml
+++ b/processed/oakink/inspire/bimanual/wipe_board/scene_eq.xml
@@ -1,7 +1,7 @@
 <mujoco model="bimanual">
   <compiler angle="radian" meshdir="../../../assets/"/>
 
-  <option timestep="0.01" iterations="10">
+  <option timestep="0.01" iterations="20">
     <flag eulerdamp="disable"/>
   </option>
 
@@ -55,14 +55,33 @@
     <mesh name="Link21_L" content_type="model/stl" file="robots/inspire/assets/Link21_L.STL"/>
     <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
     <mesh name="right_0" file="objects/O02@0055@00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0055@00002/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0055@00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0055@00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0055@00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0055@00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0055@00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0055@00002/convex/7.obj"/>
     <mesh name="left_0" file="objects/O02@0054@00001/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0054@00001/convex/1.obj"/>
+    <mesh name="left_10" file="objects/O02@0054@00001/convex/10.obj"/>
+    <mesh name="left_11" file="objects/O02@0054@00001/convex/11.obj"/>
+    <mesh name="left_12" file="objects/O02@0054@00001/convex/12.obj"/>
+    <mesh name="left_13" file="objects/O02@0054@00001/convex/13.obj"/>
+    <mesh name="left_14" file="objects/O02@0054@00001/convex/14.obj"/>
+    <mesh name="left_15" file="objects/O02@0054@00001/convex/15.obj"/>
+    <mesh name="left_16" file="objects/O02@0054@00001/convex/16.obj"/>
+    <mesh name="left_17" file="objects/O02@0054@00001/convex/17.obj"/>
+    <mesh name="left_18" file="objects/O02@0054@00001/convex/18.obj"/>
+    <mesh name="left_19" file="objects/O02@0054@00001/convex/19.obj"/>
     <mesh name="left_2" file="objects/O02@0054@00001/convex/2.obj"/>
     <mesh name="left_3" file="objects/O02@0054@00001/convex/3.obj"/>
     <mesh name="left_4" file="objects/O02@0054@00001/convex/4.obj"/>
     <mesh name="left_5" file="objects/O02@0054@00001/convex/5.obj"/>
     <mesh name="left_6" file="objects/O02@0054@00001/convex/6.obj"/>
     <mesh name="left_7" file="objects/O02@0054@00001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/O02@0054@00001/convex/8.obj"/>
+    <mesh name="left_9" file="objects/O02@0054@00001/convex/9.obj"/>
     <mesh name="right_visual" file="objects/O02@0055@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0054@00001/visual.obj"/>
   </asset>
@@ -294,7 +313,14 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <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_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"/>
@@ -336,14 +362,26 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_10"/>
+      <geom name="left_object_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_11"/>
+      <geom name="left_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_12"/>
+      <geom name="left_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_13"/>
+      <geom name="left_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_14"/>
+      <geom name="left_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_15"/>
+      <geom name="left_object_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_16"/>
+      <geom name="left_object_17" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_17"/>
+      <geom name="left_object_18" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_18"/>
+      <geom name="left_object_19" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_19"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
+      <geom name="left_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_9"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
@@ -386,347 +424,936 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" solref="0.008" 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" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" solref="0.008" friction="0.01 0.01 0.0001 0 0"/>
+    <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_10" name="floor_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_11" name="floor_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_12" name="floor_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_13" name="floor_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_14" name="floor_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_15" name="floor_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_16" name="floor_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_17" name="floor_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_18" name="floor_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_19" name="floor_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_9" name="floor_left_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="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_10" name="collision_hand_right_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_11" name="collision_hand_right_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_12" name="collision_hand_right_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_13" name="collision_hand_right_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_14" name="collision_hand_right_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_15" name="collision_hand_right_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_16" name="collision_hand_right_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_17" name="collision_hand_right_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_18" name="collision_hand_right_palm_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_19" name="collision_hand_right_palm_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_9" name="collision_hand_right_palm_0_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_10" name="collision_hand_right_middle_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_11" name="collision_hand_right_middle_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_12" name="collision_hand_right_middle_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_13" name="collision_hand_right_middle_1_left_object_13" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_15" name="collision_hand_right_middle_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_16" name="collision_hand_right_middle_1_left_object_16" friction="1 1 0.1 0 0"/>
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+    <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_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
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+    <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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_10" name="collision_hand_right_middle_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_11" name="collision_hand_right_middle_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_12" name="collision_hand_right_middle_0_left_object_12" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_9" name="collision_hand_right_middle_0_left_object_9" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_10" name="collision_hand_right_ring_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_11" name="collision_hand_right_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_12" name="collision_hand_right_ring_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_13" name="collision_hand_right_ring_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_14" name="collision_hand_right_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_15" name="collision_hand_right_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_16" name="collision_hand_right_ring_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_17" name="collision_hand_right_ring_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_18" name="collision_hand_right_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_19" name="collision_hand_right_ring_1_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_9" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_10" name="collision_hand_right_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_11" name="collision_hand_right_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_12" name="collision_hand_right_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_13" name="collision_hand_right_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_14" name="collision_hand_right_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_15" name="collision_hand_right_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_16" name="collision_hand_right_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_17" name="collision_hand_right_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_18" name="collision_hand_right_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_19" name="collision_hand_right_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_9" name="collision_hand_right_ring_0_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_10" name="collision_hand_right_pinky_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_11" name="collision_hand_right_pinky_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_12" name="collision_hand_right_pinky_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_13" name="collision_hand_right_pinky_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_14" name="collision_hand_right_pinky_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_15" name="collision_hand_right_pinky_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_16" name="collision_hand_right_pinky_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_17" name="collision_hand_right_pinky_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_18" name="collision_hand_right_pinky_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_19" name="collision_hand_right_pinky_1_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_9" name="collision_hand_right_pinky_1_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_10" name="collision_hand_right_pinky_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_11" name="collision_hand_right_pinky_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_12" name="collision_hand_right_pinky_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_13" name="collision_hand_right_pinky_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_14" name="collision_hand_right_pinky_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_15" name="collision_hand_right_pinky_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_16" name="collision_hand_right_pinky_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_17" name="collision_hand_right_pinky_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_18" name="collision_hand_right_pinky_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_19" name="collision_hand_right_pinky_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_9" name="collision_hand_right_pinky_0_left_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_10" name="collision_hand_left_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_11" name="collision_hand_left_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_12" name="collision_hand_left_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_13" name="collision_hand_left_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_14" name="collision_hand_left_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_15" name="collision_hand_left_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_16" name="collision_hand_left_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_17" name="collision_hand_left_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_9" name="collision_hand_left_ring_0_left_object_9" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_10" name="collision_hand_left_pinky_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_11" name="collision_hand_left_pinky_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_12" name="collision_hand_left_pinky_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_13" name="collision_hand_left_pinky_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_14" name="collision_hand_left_pinky_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_15" name="collision_hand_left_pinky_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_16" name="collision_hand_left_pinky_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_17" name="collision_hand_left_pinky_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_18" name="collision_hand_left_pinky_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_19" name="collision_hand_left_pinky_1_left_object_19" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_9" name="collision_hand_left_pinky_1_left_object_9" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_11" name="collision_hand_left_pinky_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_12" name="collision_hand_left_pinky_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_13" name="collision_hand_left_pinky_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_14" name="collision_hand_left_pinky_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_15" name="collision_hand_left_pinky_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_16" name="collision_hand_left_pinky_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_17" name="collision_hand_left_pinky_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_18" name="collision_hand_left_pinky_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_19" name="collision_hand_left_pinky_0_left_object_19" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_9" name="collision_hand_left_pinky_0_left_object_9" friction="1 1 0.1 0 0"/>
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+    <pair geom1="right_object_0" geom2="left_object_17" name="right_object_0_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_18" name="right_object_0_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_19" name="right_object_0_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_9" name="right_object_0_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_10" name="right_object_1_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_11" name="right_object_1_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_12" name="right_object_1_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_13" name="right_object_1_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_14" name="right_object_1_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_15" name="right_object_1_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_16" name="right_object_1_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_17" name="right_object_1_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_18" name="right_object_1_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_19" name="right_object_1_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_9" name="right_object_1_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_10" name="right_object_2_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_12" name="right_object_2_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_13" name="right_object_2_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_14" name="right_object_2_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_15" name="right_object_2_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_17" name="right_object_2_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_9" name="right_object_2_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_5" geom2="left_object_12" name="right_object_5_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_13" name="right_object_5_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_14" name="right_object_5_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_15" name="right_object_5_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_16" name="right_object_5_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_17" name="right_object_5_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_18" name="right_object_5_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_19" name="right_object_5_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
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diff --git a/processed/oakink/schunk/bimanual/lift_board/0/config.yaml b/processed/oakink/schunk/bimanual/lift_board/0/config.yaml
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     <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
@@ -42,9 +42,21 @@
     <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
     <mesh name="right_0" file="objects/O02@0018@00001/convex/0.obj"/>
     <mesh name="right_1" file="objects/O02@0018@00001/convex/1.obj"/>
+    <mesh name="right_10" file="objects/O02@0018@00001/convex/10.obj"/>
+    <mesh name="right_11" file="objects/O02@0018@00001/convex/11.obj"/>
+    <mesh name="right_12" file="objects/O02@0018@00001/convex/12.obj"/>
+    <mesh name="right_13" file="objects/O02@0018@00001/convex/13.obj"/>
+    <mesh name="right_14" file="objects/O02@0018@00001/convex/14.obj"/>
+    <mesh name="right_15" file="objects/O02@0018@00001/convex/15.obj"/>
+    <mesh name="right_16" file="objects/O02@0018@00001/convex/16.obj"/>
     <mesh name="right_2" file="objects/O02@0018@00001/convex/2.obj"/>
     <mesh name="right_3" file="objects/O02@0018@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0018@00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0018@00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0018@00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0018@00001/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0018@00001/convex/8.obj"/>
+    <mesh name="right_9" file="objects/O02@0018@00001/convex/9.obj"/>
     <mesh name="right_visual" file="objects/O02@0018@00001/visual.obj"/>
   </asset>
 
@@ -87,20 +99,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
                     <geom type="mesh" mesh="right_d11"/>
-                    <geom name="collision_hand_right_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
                       <geom type="mesh" mesh="right_d12"/>
-                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
                         <geom type="mesh" mesh="right_d13"/>
-                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0"/>
                       </body>
                     </body>
                   </body>
@@ -128,10 +140,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -154,10 +166,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -181,10 +193,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="right_finger_tip"/>
-                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="right_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_right_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -203,10 +215,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="right_finger_tip"/>
-                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="right_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_right_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -252,20 +264,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -293,10 +305,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -319,10 +331,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -346,10 +358,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -368,10 +380,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -383,24 +395,36 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <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_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_15"/>
+      <geom name="right_object_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_16"/>
+      <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"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0475256 0.0992082 -0.141567" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.000322079 0.0841274 -0.176095" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0024399 0.0708744 -0.184502" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0179018 0.0673458 -0.188854" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0527041 0.0682769 -0.196661" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.0346916 0.0966582 0.171445" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="-0.019677 0.0715001 0.187798" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="-0.00359232 0.0669317 0.188805" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0279011 0.0667714 0.190295" size="0.01" 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"/>
@@ -436,7 +460,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -473,9 +497,21 @@
   <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_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_16" name="floor_right_object_16" 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_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"/>
@@ -494,14 +530,38 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_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_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_16" name="collision_hand_right_palm_0_right_object_16" 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_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_11" name="collision_hand_right_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_12" name="collision_hand_right_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_13" name="collision_hand_right_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_14" name="collision_hand_right_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_15" name="collision_hand_right_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_16" name="collision_hand_right_thumb_2_right_object_16" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -510,9 +570,21 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_16" name="collision_hand_right_thumb_1_right_object_16" 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_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_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_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_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_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_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_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="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_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"/>
@@ -530,14 +602,38 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" 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_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_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_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_16" name="collision_hand_right_thumb_0_right_object_16" 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_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_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_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_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_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_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_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_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_11" name="collision_hand_right_ring_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_12" name="collision_hand_right_ring_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_13" name="collision_hand_right_ring_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_14" name="collision_hand_right_ring_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_15" name="collision_hand_right_ring_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_16" name="collision_hand_right_ring_2_right_object_16" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -546,9 +642,21 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_16" name="collision_hand_right_ring_1_right_object_16" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
@@ -565,14 +673,38 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_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_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_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_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_16" name="collision_hand_right_ring_0_right_object_16" 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_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_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_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_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_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_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_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_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_11" name="collision_hand_right_pinky_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_12" name="collision_hand_right_pinky_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_13" name="collision_hand_right_pinky_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_14" name="collision_hand_right_pinky_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_15" name="collision_hand_right_pinky_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_16" name="collision_hand_right_pinky_2_right_object_16" 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="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -581,9 +713,21 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_16" name="collision_hand_right_pinky_1_right_object_16" 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_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_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_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_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_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_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_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="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -599,14 +743,38 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_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_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_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_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_16" name="collision_hand_right_pinky_0_right_object_16" 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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" 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_10" name="collision_hand_right_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_11" name="collision_hand_right_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_12" name="collision_hand_right_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_13" name="collision_hand_right_index_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_14" name="collision_hand_right_index_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_15" name="collision_hand_right_index_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_16" name="collision_hand_right_index_2_right_object_16" 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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -615,9 +783,21 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" 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_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_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_16" name="collision_hand_right_index_1_right_object_16" 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_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_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_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_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_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_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_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="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_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -632,14 +812,38 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" 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_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_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_16" name="collision_hand_right_index_0_right_object_16" 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_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_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_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_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_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_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_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_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_11" name="collision_hand_right_middle_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_12" name="collision_hand_right_middle_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_13" name="collision_hand_right_middle_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_14" name="collision_hand_right_middle_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_15" name="collision_hand_right_middle_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_16" name="collision_hand_right_middle_2_right_object_16" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -648,9 +852,21 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_16" name="collision_hand_right_middle_1_right_object_16" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -664,9 +880,21 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_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_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_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_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_16" name="collision_hand_right_middle_0_right_object_16" 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_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_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_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_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_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_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_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_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -674,94 +902,286 @@
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_16" name="collision_hand_left_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_16" name="collision_hand_left_thumb_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_16" name="collision_hand_left_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_16" name="collision_hand_left_thumb_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_10" name="collision_hand_left_ring_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_11" name="collision_hand_left_ring_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_12" name="collision_hand_left_ring_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_13" name="collision_hand_left_ring_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_14" name="collision_hand_left_ring_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_15" name="collision_hand_left_ring_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_16" name="collision_hand_left_ring_2_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_9" name="collision_hand_left_ring_2_right_object_9" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_16" name="collision_hand_left_ring_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_16" name="collision_hand_left_ring_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_10" name="collision_hand_left_pinky_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_11" name="collision_hand_left_pinky_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_12" name="collision_hand_left_pinky_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_13" name="collision_hand_left_pinky_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_14" name="collision_hand_left_pinky_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_15" name="collision_hand_left_pinky_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_16" name="collision_hand_left_pinky_2_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_8" name="collision_hand_left_pinky_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_9" name="collision_hand_left_pinky_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_16" name="collision_hand_left_pinky_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_16" name="collision_hand_left_pinky_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_10" name="collision_hand_left_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_11" name="collision_hand_left_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_12" name="collision_hand_left_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_13" name="collision_hand_left_index_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_14" name="collision_hand_left_index_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_15" name="collision_hand_left_index_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_16" name="collision_hand_left_index_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_9" name="collision_hand_left_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_15" name="collision_hand_left_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_16" name="collision_hand_left_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_16" name="collision_hand_left_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_10" name="collision_hand_left_middle_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_11" name="collision_hand_left_middle_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_12" name="collision_hand_left_middle_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_13" name="collision_hand_left_middle_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_14" name="collision_hand_left_middle_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_15" name="collision_hand_left_middle_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_16" name="collision_hand_left_middle_2_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_9" name="collision_hand_left_middle_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_16" name="collision_hand_left_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_16" name="collision_hand_left_middle_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
   </contact>
 
   <actuator>
@@ -775,13 +1195,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -791,6 +1204,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -801,13 +1221,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -817,5 +1230,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/schunk/bimanual/lift_board/scene_eq.xml b/processed/oakink/schunk/bimanual/lift_board/scene_eq.xml
index 2cc0492864b07108cdd478a507d2db4faaf7e4d4..f8c17980c0d3b203427f856489e23509ae6294a5 100644
--- a/processed/oakink/schunk/bimanual/lift_board/scene_eq.xml
+++ b/processed/oakink/schunk/bimanual/lift_board/scene_eq.xml
@@ -4,13 +4,13 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -42,9 +42,21 @@
     <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
     <mesh name="right_0" file="objects/O02@0018@00001/convex/0.obj"/>
     <mesh name="right_1" file="objects/O02@0018@00001/convex/1.obj"/>
+    <mesh name="right_10" file="objects/O02@0018@00001/convex/10.obj"/>
+    <mesh name="right_11" file="objects/O02@0018@00001/convex/11.obj"/>
+    <mesh name="right_12" file="objects/O02@0018@00001/convex/12.obj"/>
+    <mesh name="right_13" file="objects/O02@0018@00001/convex/13.obj"/>
+    <mesh name="right_14" file="objects/O02@0018@00001/convex/14.obj"/>
+    <mesh name="right_15" file="objects/O02@0018@00001/convex/15.obj"/>
+    <mesh name="right_16" file="objects/O02@0018@00001/convex/16.obj"/>
     <mesh name="right_2" file="objects/O02@0018@00001/convex/2.obj"/>
     <mesh name="right_3" file="objects/O02@0018@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0018@00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0018@00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0018@00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0018@00001/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0018@00001/convex/8.obj"/>
+    <mesh name="right_9" file="objects/O02@0018@00001/convex/9.obj"/>
     <mesh name="right_visual" file="objects/O02@0018@00001/visual.obj"/>
   </asset>
 
@@ -87,20 +99,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
                     <geom type="mesh" mesh="right_d11"/>
-                    <geom name="collision_hand_right_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
                       <geom type="mesh" mesh="right_d12"/>
-                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
                         <geom type="mesh" mesh="right_d13"/>
-                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0"/>
                       </body>
                     </body>
                   </body>
@@ -128,10 +140,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -154,10 +166,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -181,10 +193,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="right_finger_tip"/>
-                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="right_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_right_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -203,10 +215,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="right_finger_tip"/>
-                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="right_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_right_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -252,20 +264,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -293,10 +305,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -319,10 +331,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -346,10 +358,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -368,10 +380,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -383,24 +395,36 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <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_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_13"/>
+      <geom name="right_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_14"/>
+      <geom name="right_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_15"/>
+      <geom name="right_object_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_16"/>
+      <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"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0475256 0.0992082 -0.141567" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.000322079 0.0841274 -0.176095" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0024399 0.0708744 -0.184502" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0179018 0.0673458 -0.188854" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0527041 0.0682769 -0.196661" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.0346916 0.0966582 0.171445" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="-0.019677 0.0715001 0.187798" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="-0.00359232 0.0669317 0.188805" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0279011 0.0667714 0.190295" size="0.01" 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"/>
@@ -436,7 +460,7 @@
       <joint name="left_object_joint" type="free" frictionloss="1"/>
       <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -473,9 +497,21 @@
   <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_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_16" name="floor_right_object_16" 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_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"/>
@@ -494,14 +530,38 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_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_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_16" name="collision_hand_right_palm_0_right_object_16" 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_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_11" name="collision_hand_right_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_12" name="collision_hand_right_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_13" name="collision_hand_right_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_14" name="collision_hand_right_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_15" name="collision_hand_right_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_16" name="collision_hand_right_thumb_2_right_object_16" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -510,9 +570,21 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_16" name="collision_hand_right_thumb_1_right_object_16" 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_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_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_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_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_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_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_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="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_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"/>
@@ -530,14 +602,38 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" 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_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_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_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_16" name="collision_hand_right_thumb_0_right_object_16" 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_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_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_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_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_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_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_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_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_11" name="collision_hand_right_ring_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_12" name="collision_hand_right_ring_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_13" name="collision_hand_right_ring_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_14" name="collision_hand_right_ring_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_15" name="collision_hand_right_ring_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_16" name="collision_hand_right_ring_2_right_object_16" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -546,9 +642,21 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_16" name="collision_hand_right_ring_1_right_object_16" 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_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_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_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_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_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_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_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="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_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
@@ -565,14 +673,38 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_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_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_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_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_16" name="collision_hand_right_ring_0_right_object_16" 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_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_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_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_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_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_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_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_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_11" name="collision_hand_right_pinky_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_12" name="collision_hand_right_pinky_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_13" name="collision_hand_right_pinky_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_14" name="collision_hand_right_pinky_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_15" name="collision_hand_right_pinky_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_16" name="collision_hand_right_pinky_2_right_object_16" 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="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -581,9 +713,21 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_16" name="collision_hand_right_pinky_1_right_object_16" 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_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_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_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_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_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_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_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="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -599,14 +743,38 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_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_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_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_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_16" name="collision_hand_right_pinky_0_right_object_16" 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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" 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_10" name="collision_hand_right_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_11" name="collision_hand_right_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_12" name="collision_hand_right_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_13" name="collision_hand_right_index_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_14" name="collision_hand_right_index_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_15" name="collision_hand_right_index_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_16" name="collision_hand_right_index_2_right_object_16" 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_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -615,9 +783,21 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" 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_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_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_16" name="collision_hand_right_index_1_right_object_16" 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_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_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_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_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_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_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_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="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_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -632,14 +812,38 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" 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_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_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_16" name="collision_hand_right_index_0_right_object_16" 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_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_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_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_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_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_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_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_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_11" name="collision_hand_right_middle_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_12" name="collision_hand_right_middle_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_13" name="collision_hand_right_middle_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_14" name="collision_hand_right_middle_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_15" name="collision_hand_right_middle_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_16" name="collision_hand_right_middle_2_right_object_16" 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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -648,9 +852,21 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" 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_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_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_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_16" name="collision_hand_right_middle_1_right_object_16" 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_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_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_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_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_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_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_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="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -664,9 +880,21 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_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_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_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_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_16" name="collision_hand_right_middle_0_right_object_16" 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_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_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_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_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_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_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_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_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -674,94 +902,286 @@
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_16" name="collision_hand_left_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_16" name="collision_hand_left_thumb_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_16" name="collision_hand_left_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_16" name="collision_hand_left_thumb_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_10" name="collision_hand_left_ring_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_11" name="collision_hand_left_ring_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_12" name="collision_hand_left_ring_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_13" name="collision_hand_left_ring_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_14" name="collision_hand_left_ring_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_15" name="collision_hand_left_ring_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_16" name="collision_hand_left_ring_2_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_9" name="collision_hand_left_ring_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_16" name="collision_hand_left_ring_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_16" name="collision_hand_left_ring_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_10" name="collision_hand_left_pinky_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_11" name="collision_hand_left_pinky_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_12" name="collision_hand_left_pinky_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_13" name="collision_hand_left_pinky_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_14" name="collision_hand_left_pinky_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_15" name="collision_hand_left_pinky_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_16" name="collision_hand_left_pinky_2_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_8" name="collision_hand_left_pinky_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_9" name="collision_hand_left_pinky_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_16" name="collision_hand_left_pinky_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_16" name="collision_hand_left_pinky_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_10" name="collision_hand_left_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_11" name="collision_hand_left_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_12" name="collision_hand_left_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_13" name="collision_hand_left_index_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_14" name="collision_hand_left_index_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_15" name="collision_hand_left_index_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_16" name="collision_hand_left_index_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_9" name="collision_hand_left_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_15" name="collision_hand_left_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_16" name="collision_hand_left_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_16" name="collision_hand_left_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_10" name="collision_hand_left_middle_2_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_11" name="collision_hand_left_middle_2_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_12" name="collision_hand_left_middle_2_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_13" name="collision_hand_left_middle_2_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_14" name="collision_hand_left_middle_2_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_15" name="collision_hand_left_middle_2_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_16" name="collision_hand_left_middle_2_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_9" name="collision_hand_left_middle_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_16" name="collision_hand_left_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_16" name="collision_hand_left_middle_0_right_object_16" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
   </contact>
 
   <equality>
@@ -798,13 +1218,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -814,6 +1227,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -824,13 +1244,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -840,5 +1253,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/schunk/bimanual/lift_board/task_info.json b/processed/oakink/schunk/bimanual/lift_board/task_info.json
index e9b4290c3f642bfddaa217cd85df50532d4c59ee..1608a4c9dae1af66231d95b24610302bca8b06ae 100644
--- a/processed/oakink/schunk/bimanual/lift_board/task_info.json
+++ b/processed/oakink/schunk/bimanual/lift_board/task_info.json
@@ -2,9 +2,10 @@
   "task": "lift_board",
   "dataset_name": "oakink",
   "robot_type": "schunk",
-  "hand_type": "bimanual",
+  "embodiment_type": "bimanual",
   "data_id": 0,
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0018@00001",
   "left_object_mesh_dir": null,
+  "ref_dt": 0.02,
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/pick_spoon_bowl/0/config.yaml b/processed/oakink/schunk/bimanual/pick_spoon_bowl/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2dd5845fa67d864f97235c5c0d1bb3a4c1dfac53
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/pick_spoon_bowl/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: pick_spoon_bowl
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/pick_spoon_bowl/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 3480
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
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+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+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: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 50
+- 2
+- 5
+- 8
+- 11
+- 14
+- 19
+- 22
+- 25
+- 28
+- 31
+horizon_steps: 200
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 66
+nv: 64
+nu: 52
+npair: 885
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/pick_spoon_bowl/4
diff --git a/processed/oakink/schunk/bimanual/pick_spoon_bowl/4/trajectory_kinematic.npz b/processed/oakink/schunk/bimanual/pick_spoon_bowl/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..10609153ecadcb40c09ccf34a80f28452fab9da2
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/pick_spoon_bowl/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8556648ae2076fd70ccafe821204359e6b803e5dc8f22496bee850d0f5f5b3d7
+size 3844716
diff --git a/processed/oakink/schunk/bimanual/pick_spoon_bowl/4/trajectory_mjwp.npz b/processed/oakink/schunk/bimanual/pick_spoon_bowl/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a2324f0964e757f8b16bc81e96be592a45c52716
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/pick_spoon_bowl/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d5d1fff9fb0efd3a76d6aace7037bd3a369fd0476d574fb8ff1a5360f75e04f
+size 5335894
diff --git a/processed/oakink/schunk/bimanual/pick_spoon_bowl/4/visualization_mjwp.mp4 b/processed/oakink/schunk/bimanual/pick_spoon_bowl/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27a8b74c5e275a46bfc2eb9a9bbc011218885830
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/pick_spoon_bowl/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdce96496625a7683a4c95ef623fe89c813dc0044171860e710e5f96136f3b72
+size 2694636
diff --git a/processed/oakink/schunk/bimanual/pick_spoon_bowl/scene.xml b/processed/oakink/schunk/bimanual/pick_spoon_bowl/scene.xml
index 5c0ec4102dba13c894b0cee748188336d71b40a6..b982f83f0cd3005be0dd90264a4674eaa6d441b0 100644
--- a/processed/oakink/schunk/bimanual/pick_spoon_bowl/scene.xml
+++ b/processed/oakink/schunk/bimanual/pick_spoon_bowl/scene.xml
@@ -4,13 +4,13 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -42,7 +42,15 @@
     <mesh name="left_f42" file="robots/schunk/assets/f42.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"/>
     <mesh name="left_0" file="objects/C12001/convex/0.obj"/>
     <mesh name="left_1" file="objects/C12001/convex/1.obj"/>
     <mesh name="left_2" file="objects/C12001/convex/2.obj"/>
@@ -51,6 +59,7 @@
     <mesh name="left_5" file="objects/C12001/convex/5.obj"/>
     <mesh name="left_6" file="objects/C12001/convex/6.obj"/>
     <mesh name="left_7" file="objects/C12001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/C12001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0030@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/C12001/visual.obj"/>
   </asset>
@@ -76,7 +85,7 @@
               <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
               <body name="right_hand_base_link">
                 <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
-                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
                 <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
                 <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
                 <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box"/>
@@ -94,20 +103,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
                     <geom type="mesh" mesh="right_d11"/>
-                    <geom name="collision_hand_right_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
                       <geom type="mesh" mesh="right_d12"/>
-                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
                         <geom type="mesh" mesh="right_d13"/>
-                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0"/>
                       </body>
                     </body>
                   </body>
@@ -135,10 +144,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -161,10 +170,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -188,10 +197,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="right_finger_tip"/>
-                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="right_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_right_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -210,10 +219,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="right_finger_tip"/>
-                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="right_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_right_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -241,7 +250,7 @@
               <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
               <body name="left_hand_link">
                 <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
-                <joint name="left_rot_y" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
                 <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
                 <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
                 <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
@@ -259,20 +268,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -300,10 +309,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -326,10 +335,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -353,10 +362,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -375,10 +384,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -390,17 +399,25 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <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="-0.00682591 0.0121744 -0.0420295" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="-0.00191084 -0.00259587 -0.0370777" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.00721628 -0.0105786 -0.0250953" 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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.00682591 0.0121744 -0.0420295" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.00191084 -0.00259587 -0.0370777" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0164644 -0.00853783 -0.0262709" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.00495252 -0.0202771 -0.0173211" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" 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"/>
@@ -434,22 +451,23 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="-0.052259 -0.0330764 0.0415308" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="-0.0679741 -0.00481394 -0.00183686" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="-0.0552835 -0.0234353 -0.0234553" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="-0.0604843 -0.0324865 -0.0268512" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.052259 -0.0330764 0.0415308" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.0679741 -0.00481394 -0.00183686" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="-0.0552835 -0.0234353 -0.0234553" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="-0.0633333 -0.0293595 -0.0291899" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="-0.0823454 -0.0448743 -0.0422737" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -486,7 +504,15 @@
   <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -495,6 +521,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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_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"/>
@@ -513,7 +540,15 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_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_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -522,9 +557,18 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -533,6 +577,7 @@
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -541,7 +586,15 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -550,6 +603,7 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" 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_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"/>
@@ -567,7 +621,15 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" 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_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_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_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_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_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_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_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_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_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_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_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -576,9 +638,18 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="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_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_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -587,6 +658,7 @@
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_8" name="collision_hand_right_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -595,7 +667,15 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -604,6 +684,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
@@ -620,7 +701,15 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_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_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_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_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -629,9 +718,18 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_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_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_2" geom2="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -640,6 +738,7 @@
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_8" name="collision_hand_right_pinky_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -648,7 +747,15 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -657,6 +764,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -672,7 +780,15 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -681,9 +797,18 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" 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_10" name="collision_hand_right_index_2_right_object_10" 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_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_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -692,6 +817,7 @@
     <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_8" name="collision_hand_right_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -700,7 +826,15 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" 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_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_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -709,6 +843,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -723,7 +858,15 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" 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_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_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" 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_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_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_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_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_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_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_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_index_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -732,9 +875,18 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="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_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_2" geom2="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -743,6 +895,7 @@
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_8" name="collision_hand_right_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -751,7 +904,15 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -760,6 +921,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -773,7 +935,15 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_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_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_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_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -782,6 +952,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -789,7 +960,15 @@
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -798,9 +977,18 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -809,9 +997,18 @@
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -820,13 +1017,22 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -835,9 +1041,18 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_10" name="collision_hand_left_ring_2_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_9" name="collision_hand_left_ring_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -846,9 +1061,18 @@
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_8" name="collision_hand_left_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -857,12 +1081,21 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -871,9 +1104,18 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_10" name="collision_hand_left_pinky_2_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_8" name="collision_hand_left_pinky_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_9" name="collision_hand_left_pinky_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -882,9 +1124,18 @@
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_5" name="collision_hand_left_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_6" name="collision_hand_left_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_7" name="collision_hand_left_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_8" name="collision_hand_left_pinky_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -893,11 +1144,20 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -906,9 +1166,18 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_10" name="collision_hand_left_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_9" name="collision_hand_left_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -917,9 +1186,18 @@
     <pair geom1="collision_hand_left_index_2" geom2="left_object_5" name="collision_hand_left_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_6" name="collision_hand_left_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_7" name="collision_hand_left_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_8" name="collision_hand_left_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -928,10 +1206,19 @@
     <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -940,9 +1227,18 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_10" name="collision_hand_left_middle_2_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_9" name="collision_hand_left_middle_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -951,9 +1247,18 @@
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_8" name="collision_hand_left_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -962,9 +1267,18 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -973,6 +1287,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -981,6 +1296,7 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -989,6 +1305,16 @@
     <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_0" name="right_object_10_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_1" name="right_object_10_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_2" name="right_object_10_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_3" name="right_object_10_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_4" name="right_object_10_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_5" name="right_object_10_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_6" name="right_object_10_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_7" name="right_object_10_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_8" name="right_object_10_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -997,26 +1323,83 @@
     <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_0" name="right_object_9_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_1" name="right_object_9_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_2" name="right_object_9_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_3" name="right_object_9_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_4" name="right_object_9_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_5" name="right_object_9_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_6" name="right_object_9_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_7" name="right_object_9_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_8" name="right_object_9_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
     <general name="right_pos_x_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -1026,23 +1409,23 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -1052,5 +1435,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/schunk/bimanual/pick_spoon_bowl/scene_eq.xml b/processed/oakink/schunk/bimanual/pick_spoon_bowl/scene_eq.xml
index 65af2669f7f1a397522803a694cb29b840ddfcc4..6a50d8d49364c34186740304ef216f23d268b6eb 100644
--- a/processed/oakink/schunk/bimanual/pick_spoon_bowl/scene_eq.xml
+++ b/processed/oakink/schunk/bimanual/pick_spoon_bowl/scene_eq.xml
@@ -4,13 +4,13 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -42,7 +42,15 @@
     <mesh name="left_f42" file="robots/schunk/assets/f42.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"/>
     <mesh name="left_0" file="objects/C12001/convex/0.obj"/>
     <mesh name="left_1" file="objects/C12001/convex/1.obj"/>
     <mesh name="left_2" file="objects/C12001/convex/2.obj"/>
@@ -51,6 +59,7 @@
     <mesh name="left_5" file="objects/C12001/convex/5.obj"/>
     <mesh name="left_6" file="objects/C12001/convex/6.obj"/>
     <mesh name="left_7" file="objects/C12001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/C12001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0030@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/C12001/visual.obj"/>
   </asset>
@@ -76,7 +85,7 @@
               <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
               <body name="right_hand_base_link">
                 <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
-                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
                 <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
                 <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
                 <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box"/>
@@ -94,20 +103,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
                     <geom type="mesh" mesh="right_d11"/>
-                    <geom name="collision_hand_right_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
                       <geom type="mesh" mesh="right_d12"/>
-                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
                         <geom type="mesh" mesh="right_d13"/>
-                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0"/>
                       </body>
                     </body>
                   </body>
@@ -135,10 +144,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -161,10 +170,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -188,10 +197,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="right_finger_tip"/>
-                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="right_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_right_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -210,10 +219,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="right_finger_tip"/>
-                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="right_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_right_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -241,7 +250,7 @@
               <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
               <body name="left_hand_link">
                 <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
-                <joint name="left_rot_y" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
                 <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
                 <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
                 <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
@@ -259,20 +268,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -300,10 +309,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -326,10 +335,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -353,10 +362,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -375,10 +384,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -390,17 +399,25 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <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="-0.00682591 0.0121744 -0.0420295" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="-0.00191084 -0.00259587 -0.0370777" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.00721628 -0.0105786 -0.0250953" 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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.00682591 0.0121744 -0.0420295" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.00191084 -0.00259587 -0.0370777" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0164644 -0.00853783 -0.0262709" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.00495252 -0.0202771 -0.0173211" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" 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"/>
@@ -434,22 +451,23 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="-0.052259 -0.0330764 0.0415308" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="-0.0679741 -0.00481394 -0.00183686" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="-0.0552835 -0.0234353 -0.0234553" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="-0.0604843 -0.0324865 -0.0268512" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.052259 -0.0330764 0.0415308" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.0679741 -0.00481394 -0.00183686" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="-0.0552835 -0.0234353 -0.0234553" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="-0.0633333 -0.0293595 -0.0291899" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="-0.0823454 -0.0448743 -0.0422737" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -486,7 +504,15 @@
   <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -495,6 +521,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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_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"/>
@@ -513,7 +540,15 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_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_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -522,9 +557,18 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -533,6 +577,7 @@
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -541,7 +586,15 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -550,6 +603,7 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" 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_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"/>
@@ -567,7 +621,15 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" 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_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_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_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_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_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_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_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_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_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_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_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -576,9 +638,18 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="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_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_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -587,6 +658,7 @@
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_8" name="collision_hand_right_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -595,7 +667,15 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -604,6 +684,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
@@ -620,7 +701,15 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_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_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_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_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -629,9 +718,18 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_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_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_2" geom2="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -640,6 +738,7 @@
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_8" name="collision_hand_right_pinky_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -648,7 +747,15 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -657,6 +764,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -672,7 +780,15 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_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_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_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -681,9 +797,18 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" 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_10" name="collision_hand_right_index_2_right_object_10" 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_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_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -692,6 +817,7 @@
     <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_8" name="collision_hand_right_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -700,7 +826,15 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" 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_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_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -709,6 +843,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -723,7 +858,15 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" 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_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_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" 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_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_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_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_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_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_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_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_index_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -732,9 +875,18 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="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_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_2" geom2="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -743,6 +895,7 @@
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_8" name="collision_hand_right_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -751,7 +904,15 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -760,6 +921,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -773,7 +935,15 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_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_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_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_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -782,6 +952,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -789,7 +960,15 @@
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -798,9 +977,18 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -809,9 +997,18 @@
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -820,13 +1017,22 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -835,9 +1041,18 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_10" name="collision_hand_left_ring_2_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_9" name="collision_hand_left_ring_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -846,9 +1061,18 @@
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_8" name="collision_hand_left_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -857,12 +1081,21 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -871,9 +1104,18 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_10" name="collision_hand_left_pinky_2_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_8" name="collision_hand_left_pinky_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_9" name="collision_hand_left_pinky_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -882,9 +1124,18 @@
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_5" name="collision_hand_left_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_6" name="collision_hand_left_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_7" name="collision_hand_left_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_8" name="collision_hand_left_pinky_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -893,11 +1144,20 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -906,9 +1166,18 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_10" name="collision_hand_left_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_9" name="collision_hand_left_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -917,9 +1186,18 @@
     <pair geom1="collision_hand_left_index_2" geom2="left_object_5" name="collision_hand_left_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_6" name="collision_hand_left_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_7" name="collision_hand_left_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_8" name="collision_hand_left_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -928,10 +1206,19 @@
     <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -940,9 +1227,18 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_10" name="collision_hand_left_middle_2_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_9" name="collision_hand_left_middle_2_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -951,9 +1247,18 @@
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_8" name="collision_hand_left_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -962,9 +1267,18 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -973,6 +1287,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -981,6 +1296,7 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -989,6 +1305,16 @@
     <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_0" name="right_object_10_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_1" name="right_object_10_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_2" name="right_object_10_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_3" name="right_object_10_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_4" name="right_object_10_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_5" name="right_object_10_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_6" name="right_object_10_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_7" name="right_object_10_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_8" name="right_object_10_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -997,6 +1323,70 @@
     <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_0" name="right_object_9_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_1" name="right_object_9_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_2" name="right_object_9_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_3" name="right_object_9_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_4" name="right_object_9_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_5" name="right_object_9_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_6" name="right_object_9_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_7" name="right_object_9_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_8" name="right_object_9_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
@@ -1026,20 +1416,13 @@
     <general name="right_pos_x_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -1049,23 +1432,23 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
-    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -1075,5 +1458,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/schunk/bimanual/pick_spoon_bowl/task_info.json b/processed/oakink/schunk/bimanual/pick_spoon_bowl/task_info.json
index 668f6ed25838ba5f7cd5deef7aabfbed55fb7ffd..b64848364de3b040c5a69f1c2e8855737c6db5e5 100644
--- a/processed/oakink/schunk/bimanual/pick_spoon_bowl/task_info.json
+++ b/processed/oakink/schunk/bimanual/pick_spoon_bowl/task_info.json
@@ -2,10 +2,11 @@
   "task": "pick_spoon_bowl",
   "dataset_name": "oakink",
   "robot_type": "schunk",
-  "hand_type": "bimanual",
+  "embodiment_type": "bimanual",
   "data_id": 0,
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0030@00002",
   "left_object_mesh_dir": "processed/oakink/assets/objects/C12001",
+  "ref_dt": 0.02,
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0030@00002/convex",
   "left_object_convex_dir": "processed/oakink/assets/objects/C12001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/pour_tube/0/config.yaml b/processed/oakink/schunk/bimanual/pour_tube/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7b680d1ae1eaa2fd8fb928271caa65d1529c318a
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/pour_tube/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: pour_tube
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/pour_tube/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/pour_tube/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 1602
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+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: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 50
+- 2
+- 5
+- 8
+- 11
+- 14
+- 19
+- 22
+- 25
+- 28
+- 31
+horizon_steps: 200
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 66
+nv: 64
+nu: 52
+npair: 431
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/pour_tube/0
diff --git a/processed/oakink/schunk/bimanual/pour_tube/0/trajectory_ikrollout.npz b/processed/oakink/schunk/bimanual/pour_tube/0/trajectory_ikrollout.npz
index e6b495ab4bf1425ef2726900f9a2dec634f96f08..a7018d584e970041dfe73f2eb53762c62c9800a8 100644
--- a/processed/oakink/schunk/bimanual/pour_tube/0/trajectory_ikrollout.npz
+++ b/processed/oakink/schunk/bimanual/pour_tube/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ffcad1662a4ad973986aaca43ac1df129372d47b8979c50e156151500bb2ddf5
-size 423718
+oid sha256:c1542670d434059fb19218aa853225517c12711c2012d6e0bc6eb4df418a70ef
+size 423190
diff --git a/processed/oakink/schunk/bimanual/pour_tube/0/trajectory_kinematic.npz b/processed/oakink/schunk/bimanual/pour_tube/0/trajectory_kinematic.npz
index 94892a7f27500899659acc605a93857f98224c57..01d52f64a8c08d5e943d5e2114ae9be422f591bf 100644
--- a/processed/oakink/schunk/bimanual/pour_tube/0/trajectory_kinematic.npz
+++ b/processed/oakink/schunk/bimanual/pour_tube/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
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-oid sha256:8e57cc5f4b817a6e6c19a5153ac76b2d49d5cee801d4d0d5b81763bf11fd7b57
-size 1773612
+oid sha256:b62cb2de062987bb5766b9246e71036d5a22d89e90e38119398b8bd53a79b0c8
+size 1771404
diff --git a/processed/oakink/schunk/bimanual/pour_tube/0/trajectory_mjwp.npz b/processed/oakink/schunk/bimanual/pour_tube/0/trajectory_mjwp.npz
index ba285c9e05d220a385798feca6a20e5148068189..c3bccf3509a982e4fb55775f4e90bbba7bc1a3f4 100644
--- a/processed/oakink/schunk/bimanual/pour_tube/0/trajectory_mjwp.npz
+++ b/processed/oakink/schunk/bimanual/pour_tube/0/trajectory_mjwp.npz
@@ -1,3 +1,3 @@
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-size 2410354
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+size 2518118
diff --git a/processed/oakink/schunk/bimanual/pour_tube/0/visualization_ik.mp4 b/processed/oakink/schunk/bimanual/pour_tube/0/visualization_ik.mp4
index 55e82406403672876cd5f5d6c44da2e2b915b2cc..be3f93cb2cc52bb01cf186b7a75e5f7908c35594 100644
--- a/processed/oakink/schunk/bimanual/pour_tube/0/visualization_ik.mp4
+++ b/processed/oakink/schunk/bimanual/pour_tube/0/visualization_ik.mp4
@@ -1,3 +1,3 @@
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-size 411893
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+size 303858
diff --git a/processed/oakink/schunk/bimanual/pour_tube/0/visualization_mjwp.mp4 b/processed/oakink/schunk/bimanual/pour_tube/0/visualization_mjwp.mp4
index db1cb4e2e945b43809e157dd5b40eb445bc61584..bae92e56d2f870e8b62e8c032a379ab43d841e54 100644
--- a/processed/oakink/schunk/bimanual/pour_tube/0/visualization_mjwp.mp4
+++ b/processed/oakink/schunk/bimanual/pour_tube/0/visualization_mjwp.mp4
@@ -1,3 +1,3 @@
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-size 699603
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+size 812046
diff --git a/processed/oakink/schunk/bimanual/pour_tube/1/config.yaml b/processed/oakink/schunk/bimanual/pour_tube/1/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..69eb7520dd64224e572975c225edc23c9f4ac0f3
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/pour_tube/1/config.yaml
@@ -0,0 +1,92 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: pour_tube
+seed: 1
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 1
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/pour_tube/1/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/pour_tube/1/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 1602
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
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+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: true
+viewer: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 50
+- 2
+- 5
+- 8
+- 11
+- 14
+- 19
+- 22
+- 25
+- 28
+- 31
+horizon_steps: 200
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 66
+nv: 64
+nu: 52
+npair: 431
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/pour_tube/1
diff --git a/processed/oakink/schunk/bimanual/pour_tube/1/trajectory_kinematic.npz b/processed/oakink/schunk/bimanual/pour_tube/1/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..01d52f64a8c08d5e943d5e2114ae9be422f591bf
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/pour_tube/1/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b62cb2de062987bb5766b9246e71036d5a22d89e90e38119398b8bd53a79b0c8
+size 1771404
diff --git a/processed/oakink/schunk/bimanual/pour_tube/1/trajectory_mjwp.npz b/processed/oakink/schunk/bimanual/pour_tube/1/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..556a5f53cc9cd5be12cd9145701c9ffd88372420
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/pour_tube/1/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7adba012b0a5b7d90c092772e70cf8c969ecb54cd2a4fa5cd071a2de66ca4b81
+size 2518118
diff --git a/processed/oakink/schunk/bimanual/pour_tube/1/visualization_mjwp.mp4 b/processed/oakink/schunk/bimanual/pour_tube/1/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd5ea0957a5defa4e90a13e571ebd32d9b85c585
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/pour_tube/1/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/schunk/bimanual/pour_tube/2/config.yaml b/processed/oakink/schunk/bimanual/pour_tube/2/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2d7875b454899de1b48a0f42a7e383be158b287d
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/pour_tube/2/config.yaml
@@ -0,0 +1,92 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: pour_tube
+seed: 2
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 2
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/pour_tube/2/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/pour_tube/2/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 1602
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
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+robot_type: schunk
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index cdb0eacd5033e87ee0b9cfb930fcc079b04075bb..b8ea2e21e5757ca91549ab9112f0215b601d7b71 100644
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+++ b/processed/oakink/schunk/bimanual/pour_tube/scene.xml
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@@ -133,10 +133,10 @@
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@@ -159,10 +159,10 @@
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-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
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@@ -186,10 +186,10 @@
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@@ -208,10 +208,10 @@
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                       <geom type="mesh" mesh="right_finger_tip"/>
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                 </body>
@@ -257,20 +257,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -298,10 +298,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -324,10 +324,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -351,10 +351,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -373,10 +373,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -388,22 +388,22 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0203067 -0.0419832 -0.0142064" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0159233 0.029516 0.0106019" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0317155 0.0209083 -0.0104862" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0308593 0.0204301 -0.0260402" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="-0.0284179 0.0366054 -0.0523723" size="0.01" 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"/>
@@ -437,15 +437,15 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.00669959 -0.0069639 -0.0235738" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0118917 0.00691844 -0.0243164" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0197026 0.00954464 -0.0491164" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -924,13 +924,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -940,6 +933,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -950,13 +950,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -966,5 +959,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/schunk/bimanual/pour_tube/scene_eq.xml b/processed/oakink/schunk/bimanual/pour_tube/scene_eq.xml
index 2f57d21c2ca2d69fe3dc072e8a34325aa61ae817..68cf35480ff9fccd1b9f1c4acbd0fc2574c47652 100644
--- a/processed/oakink/schunk/bimanual/pour_tube/scene_eq.xml
+++ b/processed/oakink/schunk/bimanual/pour_tube/scene_eq.xml
@@ -4,13 +4,13 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -92,20 +92,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
                     <geom type="mesh" mesh="right_d11"/>
-                    <geom name="collision_hand_right_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
                       <geom type="mesh" mesh="right_d12"/>
-                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
                         <geom type="mesh" mesh="right_d13"/>
-                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0"/>
                       </body>
                     </body>
                   </body>
@@ -133,10 +133,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -159,10 +159,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -186,10 +186,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="right_finger_tip"/>
-                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="right_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_right_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -208,10 +208,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="right_finger_tip"/>
-                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="right_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_right_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -257,20 +257,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -298,10 +298,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -324,10 +324,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -351,10 +351,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -373,10 +373,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -388,22 +388,22 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0203067 -0.0419832 -0.0142064" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0159233 0.029516 0.0106019" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0317155 0.0209083 -0.0104862" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0308593 0.0204301 -0.0260402" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="-0.0284179 0.0366054 -0.0523723" size="0.01" 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"/>
@@ -437,15 +437,15 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.00669959 -0.0069639 -0.0235738" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0118917 0.00691844 -0.0243164" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0197026 0.00954464 -0.0491164" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -947,13 +947,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -963,6 +956,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -973,13 +973,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -989,5 +982,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/schunk/bimanual/stir_beaker/0/config.yaml b/processed/oakink/schunk/bimanual/stir_beaker/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1ba557632e6b744c7dff3559777f5db5c82ec38b
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: stir_beaker
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/stir_beaker/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/stir_beaker/0/trajectory_kinematic.npz
+simulator: mjwp
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+nconmax_per_env: 100
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
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+- -0.005
+- 0.005
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+perturb_torque: 0.0
+num_samples: 1024
+temperature: 1.0
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diff --git a/processed/oakink/schunk/bimanual/stir_beaker/0/trajectory_ikrollout.npz b/processed/oakink/schunk/bimanual/stir_beaker/0/trajectory_ikrollout.npz
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index 0000000000000000000000000000000000000000..58acd1d2434de6f7bbc3f4d73342139b00b81997
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/1/config.yaml
@@ -0,0 +1,92 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: stir_beaker
+seed: 1
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 1
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/stir_beaker/1/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/stir_beaker/1/trajectory_kinematic.npz
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+- -0.005
+- 0.005
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+- -0.005
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--- /dev/null
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@@ -0,0 +1,92 @@
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diff --git a/processed/oakink/schunk/bimanual/stir_beaker/3/trajectory_mjwp.npz b/processed/oakink/schunk/bimanual/stir_beaker/3/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ac42112a6f0faefce4e972d4e634f0d2094630cb
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/3/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab1116444cf240a52c75b7bef9f872ca12efee101f6969ce6fd2a6264caca462
+size 1783046
diff --git a/processed/oakink/schunk/bimanual/stir_beaker/3/visualization_mjwp.mp4 b/processed/oakink/schunk/bimanual/stir_beaker/3/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c89355eb3469861264c13dd004ddec6b911bd219
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/3/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f87d329774f5265eafc5fad2e6476b45f4e689d55f998f3acd7a47769254952b
+size 1111633
diff --git a/processed/oakink/schunk/bimanual/stir_beaker/4/config.yaml b/processed/oakink/schunk/bimanual/stir_beaker/4/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..69e529de3103ae26802764bc6d867e2bb7762b32
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/4/config.yaml
@@ -0,0 +1,92 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: stir_beaker
+seed: 4
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/stir_beaker/4/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/stir_beaker/4/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 1154
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+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: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 50
+- 2
+- 5
+- 8
+- 11
+- 14
+- 19
+- 22
+- 25
+- 28
+- 31
+horizon_steps: 200
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 66
+nv: 64
+nu: 52
+npair: 801
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/stir_beaker/4
diff --git a/processed/oakink/schunk/bimanual/stir_beaker/4/trajectory_kinematic.npz b/processed/oakink/schunk/bimanual/stir_beaker/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cfb641f7fb9df4593916437242d26cfc1f2ba0be
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c01b1f3d7b724bcc1e15ea7b0adc06c4ef1fc1c2221681f34dce07b37abbd82
+size 1276812
diff --git a/processed/oakink/schunk/bimanual/stir_beaker/4/trajectory_mjwp.npz b/processed/oakink/schunk/bimanual/stir_beaker/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6c84055986db0365282ddeec4e3a0fde919b303d
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d816ba1cfec83b6597e5bdcec57e888bd1f2d81bf5b37c19aa5c0841262ad131
+size 1783046
diff --git a/processed/oakink/schunk/bimanual/stir_beaker/4/visualization_mjwp.mp4 b/processed/oakink/schunk/bimanual/stir_beaker/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c00ef2529acd739c6cb8aa680666aaf1fecc8112
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:582bcfddec35f5a831e67916490f403c59305f2ba8ed56a309b95a48671ab397
+size 1139145
diff --git a/processed/oakink/schunk/bimanual/stir_beaker/scene.xml b/processed/oakink/schunk/bimanual/stir_beaker/scene.xml
index 61d0bb4efd9b7a00e695e5b40dd3370511636c39..bf1d9fffb526d1ecdbbc4adb00147372072b573e 100644
--- a/processed/oakink/schunk/bimanual/stir_beaker/scene.xml
+++ b/processed/oakink/schunk/bimanual/stir_beaker/scene.xml
@@ -4,13 +4,13 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -41,6 +41,14 @@
     <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
     <mesh name="left_f42" file="robots/schunk/assets/f42.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"/>
     <mesh name="left_0" file="objects/C11001/convex/0.obj"/>
     <mesh name="left_1" file="objects/C11001/convex/1.obj"/>
     <mesh name="left_2" file="objects/C11001/convex/2.obj"/>
@@ -49,6 +57,7 @@
     <mesh name="left_5" file="objects/C11001/convex/5.obj"/>
     <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
     <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/C11001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/C11001/visual.obj"/>
   </asset>
@@ -92,20 +101,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
                     <geom type="mesh" mesh="right_d11"/>
-                    <geom name="collision_hand_right_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
                       <geom type="mesh" mesh="right_d12"/>
-                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
                         <geom type="mesh" mesh="right_d13"/>
-                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0"/>
                       </body>
                     </body>
                   </body>
@@ -133,10 +142,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -159,10 +168,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -186,10 +195,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="right_finger_tip"/>
-                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="right_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_right_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -208,10 +217,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="right_finger_tip"/>
-                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="right_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_right_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -257,20 +266,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -298,10 +307,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -324,10 +333,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -351,10 +360,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -373,10 +382,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -388,15 +397,23 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.00540756 -0.000501749 -0.0064119" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00821814 0.00740494 -0.0133851" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0090497 0.0269957 -0.00221597" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0161041 0.054549 -0.0138048" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.00984918 0.0671415 0.00104707" size="0.01" 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"/>
@@ -430,22 +447,23 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0382117 0.0186336 0.0196904" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0342992 -0.0246372 0.0122467" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0293652 -0.0291073 -0.0180785" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0342168 -0.0184245 -0.0392152" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -481,6 +499,14 @@
 
   <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -489,6 +515,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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_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"/>
@@ -506,6 +533,14 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_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_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -514,7 +549,16 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -523,6 +567,7 @@
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -530,6 +575,14 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -538,6 +591,7 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" 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_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"/>
@@ -554,6 +608,14 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -562,7 +624,16 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="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_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="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -571,6 +642,7 @@
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_8" name="collision_hand_right_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -578,6 +650,14 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -586,6 +666,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
@@ -601,6 +682,14 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -609,7 +698,16 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_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_2" geom2="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -618,6 +716,7 @@
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_8" name="collision_hand_right_pinky_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -625,6 +724,14 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -633,6 +740,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -647,6 +755,14 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -655,7 +771,16 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -664,6 +789,7 @@
     <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_8" name="collision_hand_right_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -671,6 +797,14 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -679,6 +813,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -692,6 +827,14 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -700,7 +843,16 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="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_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="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -709,6 +861,7 @@
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_8" name="collision_hand_right_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -716,6 +869,14 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -724,6 +885,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -736,6 +898,14 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -744,12 +914,21 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -758,7 +937,16 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -767,7 +955,16 @@
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -776,11 +973,20 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -789,7 +995,16 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -798,7 +1013,16 @@
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_8" name="collision_hand_left_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -807,10 +1031,19 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -819,7 +1052,16 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_8" name="collision_hand_left_pinky_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -828,7 +1070,16 @@
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_5" name="collision_hand_left_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_6" name="collision_hand_left_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_7" name="collision_hand_left_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_8" name="collision_hand_left_pinky_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -837,9 +1088,18 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -848,7 +1108,16 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -857,7 +1126,16 @@
     <pair geom1="collision_hand_left_index_2" geom2="left_object_5" name="collision_hand_left_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_6" name="collision_hand_left_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_7" name="collision_hand_left_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_8" name="collision_hand_left_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -866,8 +1144,17 @@
     <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -876,7 +1163,16 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -885,7 +1181,16 @@
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_8" name="collision_hand_left_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -894,7 +1199,16 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -903,6 +1217,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -911,6 +1226,79 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
@@ -924,13 +1312,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -940,6 +1321,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -950,13 +1338,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -966,5 +1347,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/schunk/bimanual/stir_beaker/scene_eq.xml b/processed/oakink/schunk/bimanual/stir_beaker/scene_eq.xml
index db8aba5ab0d8d8456100acfdbf3dd9f41680bd43..b7508389e5729c50d7c7b6531d8068c39d15030a 100644
--- a/processed/oakink/schunk/bimanual/stir_beaker/scene_eq.xml
+++ b/processed/oakink/schunk/bimanual/stir_beaker/scene_eq.xml
@@ -4,13 +4,13 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -41,6 +41,14 @@
     <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
     <mesh name="left_f42" file="robots/schunk/assets/f42.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"/>
     <mesh name="left_0" file="objects/C11001/convex/0.obj"/>
     <mesh name="left_1" file="objects/C11001/convex/1.obj"/>
     <mesh name="left_2" file="objects/C11001/convex/2.obj"/>
@@ -49,6 +57,7 @@
     <mesh name="left_5" file="objects/C11001/convex/5.obj"/>
     <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
     <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/C11001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/C11001/visual.obj"/>
   </asset>
@@ -92,20 +101,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
                     <geom type="mesh" mesh="right_d11"/>
-                    <geom name="collision_hand_right_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
                       <geom type="mesh" mesh="right_d12"/>
-                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
                         <geom type="mesh" mesh="right_d13"/>
-                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0"/>
                       </body>
                     </body>
                   </body>
@@ -133,10 +142,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -159,10 +168,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -186,10 +195,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="right_finger_tip"/>
-                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="right_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_right_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -208,10 +217,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="right_finger_tip"/>
-                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="right_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_right_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -257,20 +266,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -298,10 +307,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -324,10 +333,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -351,10 +360,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -373,10 +382,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -388,15 +397,23 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.00540756 -0.000501749 -0.0064119" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00821814 0.00740494 -0.0133851" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0090497 0.0269957 -0.00221597" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0161041 0.054549 -0.0138048" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.00984918 0.0671415 0.00104707" size="0.01" 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"/>
@@ -430,22 +447,23 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0382117 0.0186336 0.0196904" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0342992 -0.0246372 0.0122467" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0293652 -0.0291073 -0.0180785" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0342168 -0.0184245 -0.0392152" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -481,6 +499,14 @@
 
   <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -489,6 +515,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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_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"/>
@@ -506,6 +533,14 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_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_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -514,7 +549,16 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -523,6 +567,7 @@
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -530,6 +575,14 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -538,6 +591,7 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" 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_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"/>
@@ -554,6 +608,14 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -562,7 +624,16 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="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_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="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -571,6 +642,7 @@
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_8" name="collision_hand_right_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -578,6 +650,14 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -586,6 +666,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
@@ -601,6 +682,14 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -609,7 +698,16 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_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_2" geom2="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -618,6 +716,7 @@
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_8" name="collision_hand_right_pinky_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -625,6 +724,14 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -633,6 +740,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -647,6 +755,14 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -655,7 +771,16 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -664,6 +789,7 @@
     <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_8" name="collision_hand_right_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -671,6 +797,14 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -679,6 +813,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -692,6 +827,14 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -700,7 +843,16 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="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_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="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -709,6 +861,7 @@
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_8" name="collision_hand_right_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -716,6 +869,14 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -724,6 +885,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -736,6 +898,14 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -744,12 +914,21 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -758,7 +937,16 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -767,7 +955,16 @@
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -776,11 +973,20 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -789,7 +995,16 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -798,7 +1013,16 @@
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_8" name="collision_hand_left_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -807,10 +1031,19 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -819,7 +1052,16 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_8" name="collision_hand_left_pinky_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -828,7 +1070,16 @@
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_5" name="collision_hand_left_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_6" name="collision_hand_left_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_7" name="collision_hand_left_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_8" name="collision_hand_left_pinky_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -837,9 +1088,18 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -848,7 +1108,16 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -857,7 +1126,16 @@
     <pair geom1="collision_hand_left_index_2" geom2="left_object_5" name="collision_hand_left_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_6" name="collision_hand_left_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_7" name="collision_hand_left_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_8" name="collision_hand_left_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -866,8 +1144,17 @@
     <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -876,7 +1163,16 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -885,7 +1181,16 @@
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_8" name="collision_hand_left_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -894,7 +1199,16 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -903,6 +1217,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -911,6 +1226,79 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
@@ -947,13 +1335,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -963,6 +1344,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -973,13 +1361,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -989,5 +1370,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/schunk/bimanual/summary.csv b/processed/oakink/schunk/bimanual/summary.csv
index e7d56710c078ed5e58c19b27e97a0673b4091f36..f9f722059e0f23f76fd9f07edbcd0d5d69bb41f9 100644
--- a/processed/oakink/schunk/bimanual/summary.csv
+++ b/processed/oakink/schunk/bimanual/summary.csv
@@ -1,8 +1,43 @@
-task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,pos_err_threshold,quat_err_threshold,timestamp,data_type,data_id,obj_pos_err,obj_quat_err,success
-wipe_board,1,1,1.0,0.05393866736283717,0.0,0.12326596823502291,0.0,oakink,schunk,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.05393866736283717,0.12326596823502291,True
-pour_tube,1,0,0.0,0.15887121820661837,0.0,0.9509019022743905,0.0,oakink,schunk,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.15887121820661837,0.9509019022743905,False
-uncap_alcohol_burner,1,1,1.0,0.045550498629558595,0.0,0.24724278958913334,0.0,oakink,schunk,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.045550498629558595,0.24724278958913334,True
-lift_board,1,0,0.0,0.2105216674737201,0.0,0.44507956441611435,0.0,oakink,schunk,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.2105216674737201,0.44507956441611435,False
-stir_beaker,1,0,0.0,0.19690429360097444,0.0,1.0168560692490665,0.0,oakink,schunk,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.19690429360097444,1.0168560692490665,False
-pick_spoon_bowl,1,0,0.0,0.15051765560534033,0.0,0.7945360777847834,0.0,oakink,schunk,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.15051765560534033,0.7945360777847834,False
-unplug,1,1,1.0,0.04176855358685088,0.0,0.41877909025073384,0.0,oakink,schunk,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.04176855358685088,0.41877909025073384,True
+dataset,robot_type,embodiment_type,data_type,task,data_id,obj_pos_err,obj_quat_err,success,pos_err_threshold,quat_err_threshold,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,timestamp
+oakink,schunk,bimanual,mjwp,uncap_alcohol_burner,1,0.014336027519294,0.1027216178807142,True,0.1,0.6,1,1,1.0,0.014336027519294,0.0,0.1027216178807142,0.0,2026-01-27 18:26:31
+oakink,schunk,bimanual,mjwp,stir_beaker,1,0.0914045178620688,1.316107641556587,False,0.1,0.6,1,0,0.0,0.0914045178620688,0.0,1.316107641556587,0.0,2026-01-27 18:26:31
+oakink,schunk,bimanual,mjwp,unplug,1,0.0111424115538471,0.1761164428772237,True,0.1,0.6,1,1,1.0,0.0111424115538471,0.0,0.1761164428772237,0.0,2026-01-27 18:26:31
+oakink,schunk,bimanual,mjwp,pick_spoon_bowl,1,0.0314639141283113,0.767400889151879,False,0.1,0.6,1,0,0.0,0.0314639141283113,0.0,0.767400889151879,0.0,2026-01-27 18:26:31
+oakink,schunk,bimanual,mjwp,lift_board,1,0.0377962192270715,0.1801965334939143,True,0.1,0.6,1,1,1.0,0.0377962192270715,0.0,0.1801965334939143,0.0,2026-01-27 18:26:31
+oakink,schunk,bimanual,mjwp,pour_tube,1,0.0821988485437339,1.356868236472213,False,0.1,0.6,1,0,0.0,0.0821988485437339,0.0,1.356868236472213,0.0,2026-01-27 18:26:31
+oakink,schunk,bimanual,mjwp,wipe_board,1,0.0255439057327428,0.4987426415968993,True,0.1,0.6,1,1,1.0,0.0255439057327428,0.0,0.4987426415968993,0.0,2026-01-27 18:26:31
+oakink,schunk,bimanual,mjwp,uncap_alcohol_burner,0,0.034665860573433814,0.10873370544572657,True,0.1,0.5,1,1,1.0,0.034665860573433814,0.0,0.10873370544572657,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,uncap_alcohol_burner,1,0.013771859756347735,0.09480607546166342,True,0.1,0.5,1,1,1.0,0.013771859756347735,0.0,0.09480607546166342,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,uncap_alcohol_burner,2,0.01249145474756486,0.10841738343836974,True,0.1,0.5,1,1,1.0,0.01249145474756486,0.0,0.10841738343836974,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,uncap_alcohol_burner,3,0.015530719149094045,0.10340824225693791,True,0.1,0.5,1,1,1.0,0.015530719149094045,0.0,0.10340824225693791,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,uncap_alcohol_burner,4,0.014208541905617723,0.08906429583684566,True,0.1,0.5,1,1,1.0,0.014208541905617723,0.0,0.08906429583684566,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,stir_beaker,0,0.08919446972299624,0.8149139777178953,False,0.1,0.5,1,0,0.0,0.08919446972299624,0.0,0.8149139777178953,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,stir_beaker,1,0.09359006752995101,0.8279209926730289,False,0.1,0.5,1,0,0.0,0.09359006752995101,0.0,0.8279209926730289,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,stir_beaker,2,0.08643131369511108,1.0183390978527749,False,0.1,0.5,1,0,0.0,0.08643131369511108,0.0,1.0183390978527749,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,stir_beaker,3,0.10028057750828948,0.9546841075042088,False,0.1,0.5,1,0,0.0,0.10028057750828948,0.0,0.9546841075042088,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,stir_beaker,4,0.08888996962379983,0.6016247073918676,False,0.1,0.5,1,0,0.0,0.08888996962379983,0.0,0.6016247073918676,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,unplug,0,0.010809078961743364,0.21182685505336404,True,0.1,0.5,1,1,1.0,0.010809078961743364,0.0,0.21182685505336404,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,unplug,1,0.011406360662589462,0.20819451090862134,True,0.1,0.5,1,1,1.0,0.011406360662589462,0.0,0.20819451090862134,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,unplug,2,0.01113434238485819,0.20335911336828402,True,0.1,0.5,1,1,1.0,0.01113434238485819,0.0,0.20335911336828402,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,unplug,3,0.013558096618283425,0.2378456861514307,True,0.1,0.5,1,1,1.0,0.013558096618283425,0.0,0.2378456861514307,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,unplug,4,0.011653914013222962,0.22847894477940733,True,0.1,0.5,1,1,1.0,0.011653914013222962,0.0,0.22847894477940733,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,pick_spoon_bowl,0,0.032211417951698684,0.5018915720466904,False,0.1,0.5,1,0,0.0,0.032211417951698684,0.0,0.5018915720466904,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,pick_spoon_bowl,1,0.023851465960528173,0.9527584869061451,False,0.1,0.5,1,0,0.0,0.023851465960528173,0.0,0.9527584869061451,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,pick_spoon_bowl,2,0.032098526630844865,0.5779201749581093,False,0.1,0.5,1,0,0.0,0.032098526630844865,0.0,0.5779201749581093,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,pick_spoon_bowl,3,0.03333890210610044,0.987621849441553,False,0.1,0.5,1,0,0.0,0.03333890210610044,0.0,0.987621849441553,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,pick_spoon_bowl,4,0.026754159334486133,0.761033484888956,False,0.1,0.5,1,0,0.0,0.026754159334486133,0.0,0.761033484888956,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,lift_board,0,0.04680222445311524,0.1715179930525425,True,0.1,0.5,1,1,1.0,0.04680222445311524,0.0,0.1715179930525425,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,lift_board,1,0.07067658847935412,0.10240006761903454,True,0.1,0.5,1,1,1.0,0.07067658847935412,0.0,0.10240006761903454,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,lift_board,2,0.03595708998939099,0.2089540034091325,True,0.1,0.5,1,1,1.0,0.03595708998939099,0.0,0.2089540034091325,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,lift_board,3,0.09230407732339194,0.15579084464734658,True,0.1,0.5,1,1,1.0,0.09230407732339194,0.0,0.15579084464734658,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,lift_board,4,0.031915503815627945,0.29471903538159877,True,0.1,0.5,1,1,1.0,0.031915503815627945,0.0,0.29471903538159877,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,pour_tube,0,0.08160048422457045,1.358421108501624,False,0.1,0.5,1,0,0.0,0.08160048422457045,0.0,1.358421108501624,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,pour_tube,1,0.09429170678367792,1.789054726408019,False,0.1,0.5,1,0,0.0,0.09429170678367792,0.0,1.789054726408019,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,pour_tube,2,0.0837802685043512,1.253508029137167,False,0.1,0.5,1,0,0.0,0.0837802685043512,0.0,1.253508029137167,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,pour_tube,3,0.08209479392198755,1.3779981996994823,False,0.1,0.5,1,0,0.0,0.08209479392198755,0.0,1.3779981996994823,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,pour_tube,4,0.08293154584667028,1.4188325695814912,False,0.1,0.5,1,0,0.0,0.08293154584667028,0.0,1.4188325695814912,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,wipe_board,0,0.025269596284383196,0.49822494084074426,True,0.1,0.5,1,1,1.0,0.025269596284383196,0.0,0.49822494084074426,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,wipe_board,1,0.024528776416884803,0.48821178790826936,True,0.1,0.5,1,1,1.0,0.024528776416884803,0.0,0.48821178790826936,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,wipe_board,2,0.024254216563401654,0.5527458568723373,False,0.1,0.5,1,0,0.0,0.024254216563401654,0.0,0.5527458568723373,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,wipe_board,3,0.02146109626130383,0.4574938228778458,True,0.1,0.5,1,1,1.0,0.02146109626130383,0.0,0.4574938228778458,0.0,2026-01-28 14:21:32
+oakink,schunk,bimanual,mjwp,wipe_board,4,0.021962237732767034,0.4755858963309893,True,0.1,0.5,1,1,1.0,0.021962237732767034,0.0,0.4755858963309893,0.0,2026-01-28 14:21:32
diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/config.yaml b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..70d256a484f90a7edcaccf76ec7a5d5d314ca099
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: uncap_alcohol_burner
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 154
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+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: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 50
+- 2
+- 5
+- 8
+- 11
+- 14
+- 19
+- 22
+- 25
+- 28
+- 31
+horizon_steps: 200
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 66
+nv: 64
+nu: 52
+npair: 636
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0
diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz
index 2075aca650bb56fd613ec3cbea55e127783529d7..14fc82353cad7e04fe2faabbdbc493dc03454f3c 100644
--- a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
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-size 53590
+oid sha256:b9868d911cd327d29e480ad90a710afb7b493c2c6bba8e79848b3f930402ff06
+size 40918
diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_kinematic.npz b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_kinematic.npz
index 6c2efeee7dc9fe6a4f5c729a581900e0c210425e..3d5d63fccfbe88c0d87d381d4b5b1eee7da9726f 100644
--- a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_kinematic.npz
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/4/visualization_mjwp.mp4 b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b567456e757f7b50b421734ba01d3a051aed1ecc
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2fb826c6edd4cce0ef9c52f11044fad9d14b54a5d3763ecbc9db0329a3efe4b
+size 220212
diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/scene.xml b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/scene.xml
index 2508b8b415a6f035a602d9e121e0683798fea6bd..76241a86efafef6ae11523049be1fcb0701786fd 100644
--- a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/scene.xml
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/scene.xml
@@ -4,13 +4,13 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -46,12 +46,14 @@
     <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj"/>
     <mesh name="right_5" file="objects/O02@0206@00001/convex/5.obj"/>
-    <mesh name="right_6" file="objects/O02@0206@00001/convex/6.obj"/>
-    <mesh name="right_7" file="objects/O02@0206@00001/convex/7.obj"/>
     <mesh name="left_0" file="objects/O02@0206@00002/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0206@00002/convex/1.obj"/>
     <mesh name="left_2" file="objects/O02@0206@00002/convex/2.obj"/>
     <mesh name="left_3" file="objects/O02@0206@00002/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0206@00002/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0206@00002/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0206@00002/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0206@00002/convex/7.obj"/>
     <mesh name="right_visual" file="objects/O02@0206@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0206@00002/visual.obj"/>
   </asset>
@@ -95,20 +97,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
                     <geom type="mesh" mesh="right_d11"/>
-                    <geom name="collision_hand_right_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
                       <geom type="mesh" mesh="right_d12"/>
-                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
                         <geom type="mesh" mesh="right_d13"/>
-                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0"/>
                       </body>
                     </body>
                   </body>
@@ -136,10 +138,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -162,10 +164,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -189,10 +191,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="right_finger_tip"/>
-                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="right_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_right_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -211,10 +213,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="right_finger_tip"/>
-                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="right_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_right_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -260,20 +262,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -301,10 +303,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -327,10 +329,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -354,10 +356,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -376,10 +378,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -391,22 +393,20 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0135767 0.0358624 0.00113103" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" 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"/>
@@ -440,18 +440,22 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -492,12 +496,14 @@
     <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" 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_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"/>
@@ -520,24 +526,28 @@
     <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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" 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="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -550,12 +560,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" 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_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"/>
@@ -577,24 +589,28 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="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_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="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -607,12 +623,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" 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_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
@@ -633,24 +651,28 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" 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="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_3" name="collision_hand_right_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_4" name="collision_hand_right_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -663,12 +685,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -688,24 +712,28 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" 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="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -718,12 +746,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" 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_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -742,24 +772,28 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="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_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="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_3" name="collision_hand_right_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_4" name="collision_hand_right_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -772,12 +806,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -795,12 +831,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -812,36 +850,42 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
@@ -852,36 +896,42 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -891,36 +941,42 @@
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_3" name="collision_hand_left_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_4" name="collision_hand_left_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_5" name="collision_hand_left_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_6" name="collision_hand_left_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_7" name="collision_hand_left_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
@@ -929,36 +985,42 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_3" name="collision_hand_left_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_4" name="collision_hand_left_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_5" name="collision_hand_left_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_6" name="collision_hand_left_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_7" name="collision_hand_left_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -966,80 +1028,104 @@
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_4" name="collision_hand_left_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
@@ -1053,13 +1139,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -1069,6 +1148,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -1079,13 +1165,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -1095,5 +1174,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/scene_eq.xml b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/scene_eq.xml
index d7922b000cfe87c786a440128892cbca6842556d..7cb7cbca7de8be10bd7081dde822f2f70f794a05 100644
--- a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/scene_eq.xml
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/scene_eq.xml
@@ -4,13 +4,13 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -46,12 +46,14 @@
     <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj"/>
     <mesh name="right_5" file="objects/O02@0206@00001/convex/5.obj"/>
-    <mesh name="right_6" file="objects/O02@0206@00001/convex/6.obj"/>
-    <mesh name="right_7" file="objects/O02@0206@00001/convex/7.obj"/>
     <mesh name="left_0" file="objects/O02@0206@00002/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0206@00002/convex/1.obj"/>
     <mesh name="left_2" file="objects/O02@0206@00002/convex/2.obj"/>
     <mesh name="left_3" file="objects/O02@0206@00002/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0206@00002/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0206@00002/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0206@00002/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0206@00002/convex/7.obj"/>
     <mesh name="right_visual" file="objects/O02@0206@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0206@00002/visual.obj"/>
   </asset>
@@ -95,20 +97,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
                     <geom type="mesh" mesh="right_d11"/>
-                    <geom name="collision_hand_right_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
                       <geom type="mesh" mesh="right_d12"/>
-                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
                         <geom type="mesh" mesh="right_d13"/>
-                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0"/>
                       </body>
                     </body>
                   </body>
@@ -136,10 +138,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -162,10 +164,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -189,10 +191,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="right_finger_tip"/>
-                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="right_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_right_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -211,10 +213,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="right_finger_tip"/>
-                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="right_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_right_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -260,20 +262,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -301,10 +303,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -327,10 +329,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -354,10 +356,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -376,10 +378,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -391,22 +393,20 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0135767 0.0358624 0.00113103" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" 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"/>
@@ -440,18 +440,22 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -492,12 +496,14 @@
     <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" 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_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"/>
@@ -520,24 +526,28 @@
     <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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" 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="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -550,12 +560,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" 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_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"/>
@@ -577,24 +589,28 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="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_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="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -607,12 +623,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" 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_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
@@ -633,24 +651,28 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" 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="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_3" name="collision_hand_right_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_4" name="collision_hand_right_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -663,12 +685,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -688,24 +712,28 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" 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="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -718,12 +746,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" 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_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -742,24 +772,28 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="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_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="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_3" name="collision_hand_right_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_4" name="collision_hand_right_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -772,12 +806,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -795,12 +831,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -812,36 +850,42 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
@@ -852,36 +896,42 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -891,36 +941,42 @@
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_3" name="collision_hand_left_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_4" name="collision_hand_left_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_5" name="collision_hand_left_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_6" name="collision_hand_left_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_7" name="collision_hand_left_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
@@ -929,36 +985,42 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_3" name="collision_hand_left_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_4" name="collision_hand_left_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_5" name="collision_hand_left_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_6" name="collision_hand_left_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_7" name="collision_hand_left_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -966,80 +1028,104 @@
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_4" name="collision_hand_left_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
@@ -1076,13 +1162,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -1092,6 +1171,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -1102,13 +1188,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -1118,5 +1197,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/schunk/bimanual/unplug/0/config.yaml b/processed/oakink/schunk/bimanual/unplug/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bd1f201537c214f960d9336dce0f2c073ad7c448
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: unplug
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/unplug/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/unplug/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 282
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
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+contact_rew_scale: 0.0
+show_viewer: true
+viewer: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 50
+- 2
+- 5
+- 8
+- 11
+- 14
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+- 22
+- 25
+- 28
+- 31
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+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 66
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+nu: 52
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+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/unplug/0
diff --git a/processed/oakink/schunk/bimanual/unplug/0/trajectory_ikrollout.npz b/processed/oakink/schunk/bimanual/unplug/0/trajectory_ikrollout.npz
index 4a5b8bed671872979508db4f09b433bc07a17384..16c5dfb028d449cb251dd36eb9610cfa33fcc0aa 100644
--- a/processed/oakink/schunk/bimanual/unplug/0/trajectory_ikrollout.npz
+++ b/processed/oakink/schunk/bimanual/unplug/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/schunk/bimanual/unplug/0/trajectory_kinematic.npz b/processed/oakink/schunk/bimanual/unplug/0/trajectory_kinematic.npz
index c138180597984ec919599e2b9ff02b08b04c0b20..6ccdc7440c4a05f35be836c7470947f3aa7562e4 100644
--- a/processed/oakink/schunk/bimanual/unplug/0/trajectory_kinematic.npz
+++ b/processed/oakink/schunk/bimanual/unplug/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/schunk/bimanual/unplug/0/trajectory_mjwp.npz b/processed/oakink/schunk/bimanual/unplug/0/trajectory_mjwp.npz
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--- a/processed/oakink/schunk/bimanual/unplug/0/trajectory_mjwp.npz
+++ b/processed/oakink/schunk/bimanual/unplug/0/trajectory_mjwp.npz
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diff --git a/processed/oakink/schunk/bimanual/unplug/0/visualization_ik.mp4 b/processed/oakink/schunk/bimanual/unplug/0/visualization_ik.mp4
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--- a/processed/oakink/schunk/bimanual/unplug/0/visualization_ik.mp4
+++ b/processed/oakink/schunk/bimanual/unplug/0/visualization_ik.mp4
@@ -1,3 +1,3 @@
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+++ b/processed/oakink/schunk/bimanual/unplug/0/visualization_mjwp.mp4
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/schunk/bimanual/unplug/1/config.yaml b/processed/oakink/schunk/bimanual/unplug/1/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b8ec4ca54d2b813f8a3ab32787ec91a6f672a9c7
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/1/config.yaml
@@ -0,0 +1,92 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: unplug
+seed: 1
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 1
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/unplug/1/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/unplug/1/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
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+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
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+max_sim_steps: 282
+nconmax_per_env: 100
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
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+- -0.005
+- 0.005
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+temperature: 1.0
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diff --git a/processed/oakink/schunk/bimanual/unplug/1/trajectory_ikrollout.npz b/processed/oakink/schunk/bimanual/unplug/1/trajectory_ikrollout.npz
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--- /dev/null
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diff --git a/processed/oakink/schunk/bimanual/unplug/2/config.yaml b/processed/oakink/schunk/bimanual/unplug/2/config.yaml
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--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/2/config.yaml
@@ -0,0 +1,92 @@
+robot_type: schunk
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+task: unplug
+seed: 2
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 2
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/unplug/2/../scene.xml
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diff --git a/processed/oakink/schunk/bimanual/unplug/3/config.yaml b/processed/oakink/schunk/bimanual/unplug/3/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7a130e0ea74068460e026c5c1eb9fd1c514a61bd
--- /dev/null
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@@ -0,0 +1,92 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: unplug
+seed: 3
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 3
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/unplug/3/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/unplug/3/trajectory_kinematic.npz
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+- -0.005
+- 0.005
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+- -0.005
+- 0.005
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+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/unplug/3
diff --git a/processed/oakink/schunk/bimanual/unplug/3/trajectory_kinematic.npz b/processed/oakink/schunk/bimanual/unplug/3/trajectory_kinematic.npz
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diff --git a/processed/oakink/schunk/bimanual/unplug/4/config.yaml b/processed/oakink/schunk/bimanual/unplug/4/config.yaml
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--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/4/config.yaml
@@ -0,0 +1,92 @@
+robot_type: schunk
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+task: unplug
+seed: 4
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/unplug/4/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/unplug/4/trajectory_kinematic.npz
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diff --git a/processed/oakink/schunk/bimanual/unplug/4/trajectory_kinematic.npz b/processed/oakink/schunk/bimanual/unplug/4/trajectory_kinematic.npz
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diff --git a/processed/oakink/schunk/bimanual/unplug/4/visualization_mjwp.mp4 b/processed/oakink/schunk/bimanual/unplug/4/visualization_mjwp.mp4
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--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
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diff --git a/processed/oakink/schunk/bimanual/unplug/scene.xml b/processed/oakink/schunk/bimanual/unplug/scene.xml
index a3bfa7d51a052cd4201c44ff29b1c5810eaea0cb..44265f7a97501bf9933e4ac1511580f30acd8524 100644
--- a/processed/oakink/schunk/bimanual/unplug/scene.xml
+++ b/processed/oakink/schunk/bimanual/unplug/scene.xml
@@ -4,13 +4,13 @@
   <default>
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     <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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     <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
   </default>
 
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+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="0.8 0.8 0.8" width="300" height="300"/>
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@@ -48,6 +48,7 @@
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     <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
     <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
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     <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
     <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
@@ -56,6 +57,7 @@
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     <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
     <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/O02@0047@00001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
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@@ -99,20 +101,20 @@
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                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
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+                    <geom name="collision_hand_right_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
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                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
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+                      <geom name="collision_hand_right_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
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                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
                         <geom type="mesh" mesh="right_d13"/>
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-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0"/>
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@@ -140,10 +142,10 @@
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                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
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-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
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@@ -166,10 +168,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
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@@ -193,10 +195,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="right_finger_tip"/>
-                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="right_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_right_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0"/>
                       </body>
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@@ -215,10 +217,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="right_finger_tip"/>
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-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_right_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -264,20 +266,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -305,10 +307,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -331,10 +333,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -358,10 +360,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -380,10 +382,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -395,22 +397,23 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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="0.00980974 0.00883008 0.00582814" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" 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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00980974 0.00883008 0.00582814" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" 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"/>
@@ -444,22 +447,23 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -502,6 +506,7 @@
     <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -510,6 +515,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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_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"/>
@@ -534,6 +540,7 @@
     <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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -542,6 +549,7 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" 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"/>
@@ -550,6 +558,7 @@
     <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="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -558,6 +567,7 @@
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -572,6 +582,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -580,6 +591,7 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" 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_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"/>
@@ -603,6 +615,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -611,6 +624,7 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="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"/>
@@ -619,6 +633,7 @@
     <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="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -627,6 +642,7 @@
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_8" name="collision_hand_right_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -641,6 +657,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -649,6 +666,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
@@ -671,6 +689,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -679,6 +698,7 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_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"/>
@@ -687,6 +707,7 @@
     <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="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -695,6 +716,7 @@
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_8" name="collision_hand_right_pinky_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -709,6 +731,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -717,6 +740,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -738,6 +762,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -746,6 +771,7 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" 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"/>
@@ -754,6 +780,7 @@
     <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_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -762,6 +789,7 @@
     <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_8" name="collision_hand_right_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -776,6 +804,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -784,6 +813,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -804,6 +834,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -812,6 +843,7 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="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"/>
@@ -820,6 +852,7 @@
     <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="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -828,6 +861,7 @@
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_8" name="collision_hand_right_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -842,6 +876,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -850,6 +885,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -869,6 +905,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -877,6 +914,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -890,6 +928,7 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -898,6 +937,7 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -906,6 +946,7 @@
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -914,6 +955,7 @@
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -922,6 +964,7 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -930,6 +973,7 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
@@ -942,6 +986,7 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -950,6 +995,7 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
@@ -958,6 +1004,7 @@
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -966,6 +1013,7 @@
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_8" name="collision_hand_left_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -974,6 +1022,7 @@
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -982,6 +1031,7 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -993,6 +1043,7 @@
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1001,6 +1052,7 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1009,6 +1061,7 @@
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_8" name="collision_hand_left_pinky_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1017,6 +1070,7 @@
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_5" name="collision_hand_left_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_6" name="collision_hand_left_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_7" name="collision_hand_left_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_8" name="collision_hand_left_pinky_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1025,6 +1079,7 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1033,6 +1088,7 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
@@ -1043,6 +1099,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1051,6 +1108,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -1059,6 +1117,7 @@
     <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -1067,6 +1126,7 @@
     <pair geom1="collision_hand_left_index_2" geom2="left_object_5" name="collision_hand_left_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_6" name="collision_hand_left_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_7" name="collision_hand_left_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_8" name="collision_hand_left_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -1075,6 +1135,7 @@
     <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -1083,6 +1144,7 @@
     <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -1092,6 +1154,7 @@
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -1100,6 +1163,7 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1108,6 +1172,7 @@
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1116,6 +1181,7 @@
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_8" name="collision_hand_left_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1124,6 +1190,7 @@
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1132,6 +1199,7 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1140,6 +1208,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1148,6 +1217,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1156,6 +1226,7 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1164,6 +1235,7 @@
     <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1172,6 +1244,7 @@
     <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1180,6 +1253,7 @@
     <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1188,6 +1262,7 @@
     <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1196,6 +1271,7 @@
     <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1204,6 +1280,7 @@
     <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1212,6 +1289,16 @@
     <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
@@ -1225,13 +1312,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -1241,6 +1321,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -1251,13 +1338,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -1267,5 +1347,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/schunk/bimanual/unplug/scene_eq.xml b/processed/oakink/schunk/bimanual/unplug/scene_eq.xml
index bb5f2dd871cbe85eed47696a643269756daeebbc..f58155669f0e61cc46539983f84bc46d45cbdd4c 100644
--- a/processed/oakink/schunk/bimanual/unplug/scene_eq.xml
+++ b/processed/oakink/schunk/bimanual/unplug/scene_eq.xml
@@ -4,13 +4,13 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -48,6 +48,7 @@
     <mesh name="right_5" file="objects/O02@0047@00002/convex/5.obj"/>
     <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
     <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0047@00002/convex/8.obj"/>
     <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
     <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
@@ -56,6 +57,7 @@
     <mesh name="left_5" file="objects/O02@0047@00001/convex/5.obj"/>
     <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
     <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/O02@0047@00001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
   </asset>
@@ -99,20 +101,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
                     <geom type="mesh" mesh="right_d11"/>
-                    <geom name="collision_hand_right_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
                       <geom type="mesh" mesh="right_d12"/>
-                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
                         <geom type="mesh" mesh="right_d13"/>
-                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0"/>
                       </body>
                     </body>
                   </body>
@@ -140,10 +142,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -166,10 +168,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -193,10 +195,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="right_finger_tip"/>
-                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="right_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_right_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -215,10 +217,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="right_finger_tip"/>
-                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="right_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_right_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -264,20 +266,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -305,10 +307,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -331,10 +333,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -358,10 +360,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -380,10 +382,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -395,22 +397,23 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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="0.00980974 0.00883008 0.00582814" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" 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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00980974 0.00883008 0.00582814" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" 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"/>
@@ -444,22 +447,23 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -502,6 +506,7 @@
     <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -510,6 +515,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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_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"/>
@@ -534,6 +540,7 @@
     <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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -542,6 +549,7 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" 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"/>
@@ -550,6 +558,7 @@
     <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="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -558,6 +567,7 @@
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -572,6 +582,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -580,6 +591,7 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" 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_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"/>
@@ -603,6 +615,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -611,6 +624,7 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="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"/>
@@ -619,6 +633,7 @@
     <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="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -627,6 +642,7 @@
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_8" name="collision_hand_right_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -641,6 +657,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -649,6 +666,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
@@ -671,6 +689,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -679,6 +698,7 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_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"/>
@@ -687,6 +707,7 @@
     <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="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -695,6 +716,7 @@
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_8" name="collision_hand_right_pinky_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -709,6 +731,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -717,6 +740,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -738,6 +762,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -746,6 +771,7 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" 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"/>
@@ -754,6 +780,7 @@
     <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_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -762,6 +789,7 @@
     <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_8" name="collision_hand_right_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -776,6 +804,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -784,6 +813,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -804,6 +834,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -812,6 +843,7 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="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"/>
@@ -820,6 +852,7 @@
     <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="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -828,6 +861,7 @@
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_8" name="collision_hand_right_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -842,6 +876,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -850,6 +885,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -869,6 +905,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -877,6 +914,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -890,6 +928,7 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -898,6 +937,7 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -906,6 +946,7 @@
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -914,6 +955,7 @@
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -922,6 +964,7 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -930,6 +973,7 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
@@ -942,6 +986,7 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -950,6 +995,7 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
@@ -958,6 +1004,7 @@
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -966,6 +1013,7 @@
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_8" name="collision_hand_left_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -974,6 +1022,7 @@
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -982,6 +1031,7 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -993,6 +1043,7 @@
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1001,6 +1052,7 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1009,6 +1061,7 @@
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_8" name="collision_hand_left_pinky_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1017,6 +1070,7 @@
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_5" name="collision_hand_left_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_6" name="collision_hand_left_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_7" name="collision_hand_left_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_8" name="collision_hand_left_pinky_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1025,6 +1079,7 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1033,6 +1088,7 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
@@ -1043,6 +1099,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1051,6 +1108,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -1059,6 +1117,7 @@
     <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -1067,6 +1126,7 @@
     <pair geom1="collision_hand_left_index_2" geom2="left_object_5" name="collision_hand_left_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_6" name="collision_hand_left_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_7" name="collision_hand_left_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_8" name="collision_hand_left_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -1075,6 +1135,7 @@
     <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -1083,6 +1144,7 @@
     <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
@@ -1092,6 +1154,7 @@
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -1100,6 +1163,7 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1108,6 +1172,7 @@
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1116,6 +1181,7 @@
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_8" name="collision_hand_left_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1124,6 +1190,7 @@
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1132,6 +1199,7 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
@@ -1140,6 +1208,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -1148,6 +1217,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1156,6 +1226,7 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1164,6 +1235,7 @@
     <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1172,6 +1244,7 @@
     <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1180,6 +1253,7 @@
     <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1188,6 +1262,7 @@
     <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1196,6 +1271,7 @@
     <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1204,6 +1280,7 @@
     <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -1212,6 +1289,16 @@
     <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
@@ -1248,13 +1335,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -1264,6 +1344,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -1274,13 +1361,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -1290,5 +1370,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/schunk/bimanual/wipe_board/0/config.yaml b/processed/oakink/schunk/bimanual/wipe_board/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c5e8d0af9525d03d20da4354176588edc8d6be3f
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: wipe_board
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/schunk/bimanual/wipe_board/0/../scene.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 682
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
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+object_pos_threshold: 0.1
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+viewer: mujoco-rerun
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+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
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+beta_traj: 0.930572040929699
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/schunk/bimanual/wipe_board/0
diff --git a/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_ikrollout.npz b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_ikrollout.npz
index 1934d2bd46cd846fbeffb9c5e2a80c6290d0cd89..8ec68da983e4c359a645342e307443c1c929c612 100644
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+++ b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
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+++ b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_kinematic.npz
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+++ b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_mjwp.npz
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+++ b/processed/oakink/schunk/bimanual/wipe_board/0/visualization_ik.mp4
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+++ b/processed/oakink/schunk/bimanual/wipe_board/0/visualization_mjwp.mp4
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diff --git a/processed/oakink/schunk/bimanual/wipe_board/1/config.yaml b/processed/oakink/schunk/bimanual/wipe_board/1/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3572400f7aa11df02e0051f1fdffb22f0d25a160
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/1/config.yaml
@@ -0,0 +1,92 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: wipe_board
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 1
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/wipe_board/1/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/wipe_board/1/trajectory_kinematic.npz
+simulator: mjwp
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+nconmax_per_env: 100
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+num_dr: 1
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+- -0.005
+- 0.005
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+- -0.005
+- 0.005
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diff --git a/processed/oakink/schunk/bimanual/wipe_board/1/trajectory_ikrollout.npz b/processed/oakink/schunk/bimanual/wipe_board/1/trajectory_ikrollout.npz
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--- /dev/null
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+robot_type: schunk
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+task: wipe_board
+seed: 2
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 2
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/wipe_board/2/../scene.xml
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new file mode 100644
index 0000000000000000000000000000000000000000..a035cfa2e61507aa7bcf7e578a8055914f2c9d57
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/3/config.yaml
@@ -0,0 +1,92 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: wipe_board
+seed: 3
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 3
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/wipe_board/3/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/wipe_board/3/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 682
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
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+base_rot_rew_scale: 0.03
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+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: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 50
+- 2
+- 5
+- 8
+- 11
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+- 19
+- 22
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+- 28
+- 31
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+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 66
+nv: 64
+nu: 52
+npair: 1210
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/wipe_board/3
diff --git a/processed/oakink/schunk/bimanual/wipe_board/3/trajectory_kinematic.npz b/processed/oakink/schunk/bimanual/wipe_board/3/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6de4b4ce56d3b200d5d95861f889931a241983d3
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/3/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cf93354af2ed5118b9818c8d602a908ae9daf6a0d5a8622cc845e6661840948
+size 755724
diff --git a/processed/oakink/schunk/bimanual/wipe_board/3/trajectory_mjwp.npz b/processed/oakink/schunk/bimanual/wipe_board/3/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8ae21358debb60d9091048769f6b0a996edc8e1e
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/3/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32d6858db9040ca0b0bbf74befb08625241747deaa5668e4cab8520398221bb1
+size 1109230
diff --git a/processed/oakink/schunk/bimanual/wipe_board/3/visualization_mjwp.mp4 b/processed/oakink/schunk/bimanual/wipe_board/3/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f3376d6e451f1121ed61b98ebee813240728e384
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/3/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b54a66892824c96a22708a2ee8c0c5f7ebf91471cfe0c57c7c3a9209898022f
+size 932950
diff --git a/processed/oakink/schunk/bimanual/wipe_board/4/config.yaml b/processed/oakink/schunk/bimanual/wipe_board/4/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1b8dd1e7b29942e1d6d14df9071feb345854f7e9
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/4/config.yaml
@@ -0,0 +1,92 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: wipe_board
+seed: 4
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/wipe_board/4/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/wipe_board/4/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 2.0
+knot_dt: 0.4
+max_sim_steps: 682
+nconmax_per_env: 100
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+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: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 50
+- 2
+- 5
+- 8
+- 11
+- 14
+- 19
+- 22
+- 25
+- 28
+- 31
+horizon_steps: 200
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 66
+nv: 64
+nu: 52
+npair: 1210
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/wipe_board/4
diff --git a/processed/oakink/schunk/bimanual/wipe_board/4/trajectory_kinematic.npz b/processed/oakink/schunk/bimanual/wipe_board/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6de4b4ce56d3b200d5d95861f889931a241983d3
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cf93354af2ed5118b9818c8d602a908ae9daf6a0d5a8622cc845e6661840948
+size 755724
diff --git a/processed/oakink/schunk/bimanual/wipe_board/4/trajectory_mjwp.npz b/processed/oakink/schunk/bimanual/wipe_board/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5bbab60b2ea86518c04af62fe167c89e1b26c059
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d4a92ec3f4f816ab1adb5f7118422cb2e5999ad2c22d45ebb182312d611f43
+size 1109230
diff --git a/processed/oakink/schunk/bimanual/wipe_board/4/visualization_mjwp.mp4 b/processed/oakink/schunk/bimanual/wipe_board/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6edff20d00d64a33d771d08d848c1a1fdff64403
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3256c49f2487c0c06bad479204f6c05e8a5bdacb6e58d00523390626cb2a8f2e
+size 985146
diff --git a/processed/oakink/schunk/bimanual/wipe_board/scene.xml b/processed/oakink/schunk/bimanual/wipe_board/scene.xml
index 88b3a99bc3e11d2cc7c1e33e3f059781c256ad40..d87499edff0096bb1a68b25c0f51dc466eaac7a9 100644
--- a/processed/oakink/schunk/bimanual/wipe_board/scene.xml
+++ b/processed/oakink/schunk/bimanual/wipe_board/scene.xml
@@ -4,13 +4,13 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -41,14 +41,33 @@
     <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
     <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
     <mesh name="right_0" file="objects/O02@0055@00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0055@00002/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0055@00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0055@00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0055@00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0055@00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0055@00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0055@00002/convex/7.obj"/>
     <mesh name="left_0" file="objects/O02@0054@00001/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0054@00001/convex/1.obj"/>
+    <mesh name="left_10" file="objects/O02@0054@00001/convex/10.obj"/>
+    <mesh name="left_11" file="objects/O02@0054@00001/convex/11.obj"/>
+    <mesh name="left_12" file="objects/O02@0054@00001/convex/12.obj"/>
+    <mesh name="left_13" file="objects/O02@0054@00001/convex/13.obj"/>
+    <mesh name="left_14" file="objects/O02@0054@00001/convex/14.obj"/>
+    <mesh name="left_15" file="objects/O02@0054@00001/convex/15.obj"/>
+    <mesh name="left_16" file="objects/O02@0054@00001/convex/16.obj"/>
+    <mesh name="left_17" file="objects/O02@0054@00001/convex/17.obj"/>
+    <mesh name="left_18" file="objects/O02@0054@00001/convex/18.obj"/>
+    <mesh name="left_19" file="objects/O02@0054@00001/convex/19.obj"/>
     <mesh name="left_2" file="objects/O02@0054@00001/convex/2.obj"/>
     <mesh name="left_3" file="objects/O02@0054@00001/convex/3.obj"/>
     <mesh name="left_4" file="objects/O02@0054@00001/convex/4.obj"/>
     <mesh name="left_5" file="objects/O02@0054@00001/convex/5.obj"/>
     <mesh name="left_6" file="objects/O02@0054@00001/convex/6.obj"/>
     <mesh name="left_7" file="objects/O02@0054@00001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/O02@0054@00001/convex/8.obj"/>
+    <mesh name="left_9" file="objects/O02@0054@00001/convex/9.obj"/>
     <mesh name="right_visual" file="objects/O02@0055@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0054@00001/visual.obj"/>
   </asset>
@@ -92,20 +111,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
                     <geom type="mesh" mesh="right_d11"/>
-                    <geom name="collision_hand_right_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
                       <geom type="mesh" mesh="right_d12"/>
-                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
                         <geom type="mesh" mesh="right_d13"/>
-                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0"/>
                       </body>
                     </body>
                   </body>
@@ -133,10 +152,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -159,10 +178,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -186,10 +205,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="right_finger_tip"/>
-                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="right_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_right_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -208,10 +227,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="right_finger_tip"/>
-                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="right_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_right_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -257,20 +276,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -298,10 +317,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -324,10 +343,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -351,10 +370,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -373,10 +392,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -388,15 +407,22 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <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_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="-0.0312345 -0.0141977 0.00797173" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0312345 -0.0141977 0.00797173" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" size="0.01" 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"/>
@@ -430,22 +456,34 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_10"/>
+      <geom name="left_object_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_11"/>
+      <geom name="left_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_12"/>
+      <geom name="left_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_13"/>
+      <geom name="left_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_14"/>
+      <geom name="left_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_15"/>
+      <geom name="left_object_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_16"/>
+      <geom name="left_object_17" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_17"/>
+      <geom name="left_object_18" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_18"/>
+      <geom name="left_object_19" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_19"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
+      <geom name="left_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_9"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -481,14 +519,33 @@
 
   <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_10" name="floor_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_11" name="floor_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_12" name="floor_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_13" name="floor_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_14" name="floor_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_15" name="floor_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_16" name="floor_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_17" name="floor_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_18" name="floor_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_19" name="floor_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_9" name="floor_left_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_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"/>
@@ -506,23 +563,61 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_10" name="collision_hand_right_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_11" name="collision_hand_right_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_12" name="collision_hand_right_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_13" name="collision_hand_right_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_14" name="collision_hand_right_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_15" name="collision_hand_right_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_16" name="collision_hand_right_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_17" name="collision_hand_right_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_18" name="collision_hand_right_palm_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_19" name="collision_hand_right_palm_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_9" name="collision_hand_right_palm_0_left_object_9" 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="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_10" name="collision_hand_right_thumb_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_11" name="collision_hand_right_thumb_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_12" name="collision_hand_right_thumb_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_13" name="collision_hand_right_thumb_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_14" name="collision_hand_right_thumb_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_15" name="collision_hand_right_thumb_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_16" name="collision_hand_right_thumb_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_17" name="collision_hand_right_thumb_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_18" name="collision_hand_right_thumb_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_19" name="collision_hand_right_thumb_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_9" name="collision_hand_right_thumb_2_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -530,14 +625,33 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_10" name="collision_hand_right_thumb_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_11" name="collision_hand_right_thumb_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_12" name="collision_hand_right_thumb_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_13" name="collision_hand_right_thumb_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_14" name="collision_hand_right_thumb_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_15" name="collision_hand_right_thumb_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_16" name="collision_hand_right_thumb_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_17" name="collision_hand_right_thumb_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_18" name="collision_hand_right_thumb_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_19" name="collision_hand_right_thumb_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_9" name="collision_hand_right_thumb_1_left_object_9" condim="4" 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_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"/>
@@ -554,23 +668,61 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" 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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_10" name="collision_hand_right_thumb_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_11" name="collision_hand_right_thumb_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_12" name="collision_hand_right_thumb_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_13" name="collision_hand_right_thumb_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_14" name="collision_hand_right_thumb_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_15" name="collision_hand_right_thumb_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_16" name="collision_hand_right_thumb_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_17" name="collision_hand_right_thumb_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_18" name="collision_hand_right_thumb_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_19" name="collision_hand_right_thumb_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_9" name="collision_hand_right_thumb_0_left_object_9" condim="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_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="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_10" name="collision_hand_right_ring_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_11" name="collision_hand_right_ring_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_12" name="collision_hand_right_ring_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_13" name="collision_hand_right_ring_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_14" name="collision_hand_right_ring_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_15" name="collision_hand_right_ring_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_16" name="collision_hand_right_ring_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_17" name="collision_hand_right_ring_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_18" name="collision_hand_right_ring_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_19" name="collision_hand_right_ring_2_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_8" name="collision_hand_right_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_9" name="collision_hand_right_ring_2_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -578,14 +730,33 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_10" name="collision_hand_right_ring_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_11" name="collision_hand_right_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_12" name="collision_hand_right_ring_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_13" name="collision_hand_right_ring_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_14" name="collision_hand_right_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_15" name="collision_hand_right_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_16" name="collision_hand_right_ring_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_17" name="collision_hand_right_ring_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_18" name="collision_hand_right_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_19" name="collision_hand_right_ring_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_9" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
@@ -601,23 +772,61 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_10" name="collision_hand_right_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_11" name="collision_hand_right_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_12" name="collision_hand_right_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_13" name="collision_hand_right_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_14" name="collision_hand_right_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_15" name="collision_hand_right_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_16" name="collision_hand_right_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_17" name="collision_hand_right_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_18" name="collision_hand_right_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_19" name="collision_hand_right_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_9" name="collision_hand_right_ring_0_left_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_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="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_10" name="collision_hand_right_pinky_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_11" name="collision_hand_right_pinky_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_12" name="collision_hand_right_pinky_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_13" name="collision_hand_right_pinky_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_14" name="collision_hand_right_pinky_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_15" name="collision_hand_right_pinky_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_16" name="collision_hand_right_pinky_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_17" name="collision_hand_right_pinky_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_18" name="collision_hand_right_pinky_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_19" name="collision_hand_right_pinky_2_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_3" name="collision_hand_right_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_4" name="collision_hand_right_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_8" name="collision_hand_right_pinky_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_9" name="collision_hand_right_pinky_2_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -625,14 +834,33 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_10" name="collision_hand_right_pinky_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_11" name="collision_hand_right_pinky_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_12" name="collision_hand_right_pinky_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_13" name="collision_hand_right_pinky_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_14" name="collision_hand_right_pinky_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_15" name="collision_hand_right_pinky_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_16" name="collision_hand_right_pinky_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_17" name="collision_hand_right_pinky_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_18" name="collision_hand_right_pinky_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_19" name="collision_hand_right_pinky_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_9" name="collision_hand_right_pinky_1_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -647,23 +875,61 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_10" name="collision_hand_right_pinky_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_11" name="collision_hand_right_pinky_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_12" name="collision_hand_right_pinky_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_13" name="collision_hand_right_pinky_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_14" name="collision_hand_right_pinky_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_15" name="collision_hand_right_pinky_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_16" name="collision_hand_right_pinky_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_17" name="collision_hand_right_pinky_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_18" name="collision_hand_right_pinky_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_19" name="collision_hand_right_pinky_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_9" name="collision_hand_right_pinky_0_left_object_9" 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="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_10" name="collision_hand_right_index_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_11" name="collision_hand_right_index_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_12" name="collision_hand_right_index_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_13" name="collision_hand_right_index_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_14" name="collision_hand_right_index_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_15" name="collision_hand_right_index_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_16" name="collision_hand_right_index_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_17" name="collision_hand_right_index_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_18" name="collision_hand_right_index_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_19" name="collision_hand_right_index_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_8" name="collision_hand_right_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_9" name="collision_hand_right_index_2_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -671,14 +937,33 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_10" name="collision_hand_right_index_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_11" name="collision_hand_right_index_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_12" name="collision_hand_right_index_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_13" name="collision_hand_right_index_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_14" name="collision_hand_right_index_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_15" name="collision_hand_right_index_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_16" name="collision_hand_right_index_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_17" name="collision_hand_right_index_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_18" name="collision_hand_right_index_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_19" name="collision_hand_right_index_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_9" name="collision_hand_right_index_1_left_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"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -692,23 +977,61 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" 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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_10" name="collision_hand_right_index_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_11" name="collision_hand_right_index_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_12" name="collision_hand_right_index_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_13" name="collision_hand_right_index_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_14" name="collision_hand_right_index_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_15" name="collision_hand_right_index_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_16" name="collision_hand_right_index_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_17" name="collision_hand_right_index_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_18" name="collision_hand_right_index_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_19" name="collision_hand_right_index_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_9" name="collision_hand_right_index_0_left_object_9" condim="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_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="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_10" name="collision_hand_right_middle_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_11" name="collision_hand_right_middle_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_12" name="collision_hand_right_middle_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_13" name="collision_hand_right_middle_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_14" name="collision_hand_right_middle_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_15" name="collision_hand_right_middle_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_16" name="collision_hand_right_middle_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_17" name="collision_hand_right_middle_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_18" name="collision_hand_right_middle_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_19" name="collision_hand_right_middle_2_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_3" name="collision_hand_right_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_4" name="collision_hand_right_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_8" name="collision_hand_right_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_9" name="collision_hand_right_middle_2_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -716,14 +1039,33 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_10" name="collision_hand_right_middle_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_11" name="collision_hand_right_middle_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_12" name="collision_hand_right_middle_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_13" name="collision_hand_right_middle_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_14" name="collision_hand_right_middle_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_15" name="collision_hand_right_middle_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_16" name="collision_hand_right_middle_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_17" name="collision_hand_right_middle_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_18" name="collision_hand_right_middle_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_19" name="collision_hand_right_middle_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_9" name="collision_hand_right_middle_1_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -736,181 +1078,656 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_10" name="collision_hand_right_middle_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_11" name="collision_hand_right_middle_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_12" name="collision_hand_right_middle_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_13" name="collision_hand_right_middle_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_14" name="collision_hand_right_middle_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_15" name="collision_hand_right_middle_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_16" name="collision_hand_right_middle_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_17" name="collision_hand_right_middle_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_18" name="collision_hand_right_middle_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_19" name="collision_hand_right_middle_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_9" name="collision_hand_right_middle_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_10" name="collision_hand_left_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_11" name="collision_hand_left_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_12" name="collision_hand_left_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_13" name="collision_hand_left_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_14" name="collision_hand_left_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_15" name="collision_hand_left_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_16" name="collision_hand_left_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_17" name="collision_hand_left_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_18" name="collision_hand_left_palm_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_19" name="collision_hand_left_palm_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_9" name="collision_hand_left_palm_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_10" name="collision_hand_left_thumb_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_11" name="collision_hand_left_thumb_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_12" name="collision_hand_left_thumb_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_13" name="collision_hand_left_thumb_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_14" name="collision_hand_left_thumb_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_15" name="collision_hand_left_thumb_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_16" name="collision_hand_left_thumb_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_17" name="collision_hand_left_thumb_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_18" name="collision_hand_left_thumb_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_19" name="collision_hand_left_thumb_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_9" name="collision_hand_left_thumb_2_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_10" name="collision_hand_left_thumb_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_11" name="collision_hand_left_thumb_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_12" name="collision_hand_left_thumb_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_13" name="collision_hand_left_thumb_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_14" name="collision_hand_left_thumb_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_15" name="collision_hand_left_thumb_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_16" name="collision_hand_left_thumb_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_17" name="collision_hand_left_thumb_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_18" name="collision_hand_left_thumb_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_19" name="collision_hand_left_thumb_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_9" name="collision_hand_left_thumb_1_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_10" name="collision_hand_left_thumb_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_11" name="collision_hand_left_thumb_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_12" name="collision_hand_left_thumb_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_13" name="collision_hand_left_thumb_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_14" name="collision_hand_left_thumb_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_15" name="collision_hand_left_thumb_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_16" name="collision_hand_left_thumb_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_17" name="collision_hand_left_thumb_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_18" name="collision_hand_left_thumb_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_19" name="collision_hand_left_thumb_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_9" name="collision_hand_left_thumb_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_10" name="collision_hand_left_ring_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_11" name="collision_hand_left_ring_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_12" name="collision_hand_left_ring_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_13" name="collision_hand_left_ring_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_14" name="collision_hand_left_ring_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_15" name="collision_hand_left_ring_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_16" name="collision_hand_left_ring_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_17" name="collision_hand_left_ring_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_18" name="collision_hand_left_ring_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_19" name="collision_hand_left_ring_2_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_8" name="collision_hand_left_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_9" name="collision_hand_left_ring_2_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_10" name="collision_hand_left_ring_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_11" name="collision_hand_left_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_12" name="collision_hand_left_ring_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_13" name="collision_hand_left_ring_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_14" name="collision_hand_left_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_15" name="collision_hand_left_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_16" name="collision_hand_left_ring_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_17" name="collision_hand_left_ring_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_18" name="collision_hand_left_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_19" name="collision_hand_left_ring_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_9" name="collision_hand_left_ring_1_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_10" name="collision_hand_left_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_11" name="collision_hand_left_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_12" name="collision_hand_left_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_13" name="collision_hand_left_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_14" name="collision_hand_left_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_15" name="collision_hand_left_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_16" name="collision_hand_left_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_17" name="collision_hand_left_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_18" name="collision_hand_left_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_19" name="collision_hand_left_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_9" name="collision_hand_left_ring_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_10" name="collision_hand_left_pinky_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_11" name="collision_hand_left_pinky_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_12" name="collision_hand_left_pinky_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_13" name="collision_hand_left_pinky_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_14" name="collision_hand_left_pinky_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_15" name="collision_hand_left_pinky_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_16" name="collision_hand_left_pinky_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_17" name="collision_hand_left_pinky_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_18" name="collision_hand_left_pinky_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_19" name="collision_hand_left_pinky_2_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_3" name="collision_hand_left_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_4" name="collision_hand_left_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_5" name="collision_hand_left_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_6" name="collision_hand_left_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_7" name="collision_hand_left_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_8" name="collision_hand_left_pinky_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_9" name="collision_hand_left_pinky_2_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_10" name="collision_hand_left_pinky_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_11" name="collision_hand_left_pinky_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_12" name="collision_hand_left_pinky_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_13" name="collision_hand_left_pinky_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_14" name="collision_hand_left_pinky_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_15" name="collision_hand_left_pinky_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_16" name="collision_hand_left_pinky_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_17" name="collision_hand_left_pinky_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_18" name="collision_hand_left_pinky_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_19" name="collision_hand_left_pinky_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_9" name="collision_hand_left_pinky_1_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_10" name="collision_hand_left_pinky_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_11" name="collision_hand_left_pinky_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_12" name="collision_hand_left_pinky_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_13" name="collision_hand_left_pinky_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_14" name="collision_hand_left_pinky_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_15" name="collision_hand_left_pinky_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_16" name="collision_hand_left_pinky_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_17" name="collision_hand_left_pinky_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_18" name="collision_hand_left_pinky_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_19" name="collision_hand_left_pinky_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_9" name="collision_hand_left_pinky_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_10" name="collision_hand_left_index_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_11" name="collision_hand_left_index_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_12" name="collision_hand_left_index_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_13" name="collision_hand_left_index_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_14" name="collision_hand_left_index_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_15" name="collision_hand_left_index_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_16" name="collision_hand_left_index_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_17" name="collision_hand_left_index_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_13" name="collision_hand_left_middle_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_14" name="collision_hand_left_middle_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_15" name="collision_hand_left_middle_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_16" name="collision_hand_left_middle_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_17" name="collision_hand_left_middle_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_18" name="collision_hand_left_middle_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_19" name="collision_hand_left_middle_0_left_object_19" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_9" name="collision_hand_left_middle_0_left_object_9" friction="1 1 0.1 0 0"/>
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+    <pair geom1="right_object_0" geom2="left_object_12" name="right_object_0_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_0" geom2="left_object_15" name="right_object_0_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_16" name="right_object_0_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_17" name="right_object_0_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_18" name="right_object_0_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_19" name="right_object_0_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_9" name="right_object_0_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_10" name="right_object_1_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_11" name="right_object_1_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_12" name="right_object_1_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_13" name="right_object_1_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_14" name="right_object_1_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_15" name="right_object_1_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_16" name="right_object_1_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_17" name="right_object_1_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_18" name="right_object_1_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_19" name="right_object_1_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_9" name="right_object_1_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_10" name="right_object_2_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_11" name="right_object_2_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_12" name="right_object_2_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_13" name="right_object_2_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_14" name="right_object_2_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_15" name="right_object_2_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_16" name="right_object_2_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_17" name="right_object_2_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_18" name="right_object_2_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_19" name="right_object_2_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_9" name="right_object_2_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_3" geom2="left_object_19" name="right_object_3_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_9" name="right_object_3_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_4" geom2="left_object_10" name="right_object_4_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_4" geom2="left_object_14" name="right_object_4_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_5" geom2="left_object_10" name="right_object_5_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_5" geom2="left_object_14" name="right_object_5_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_15" name="right_object_5_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_16" name="right_object_5_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_5" geom2="left_object_18" name="right_object_5_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_19" name="right_object_5_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_9" name="right_object_5_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_10" name="right_object_6_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_11" name="right_object_6_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_12" name="right_object_6_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_13" name="right_object_6_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_14" name="right_object_6_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_15" name="right_object_6_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_16" name="right_object_6_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_17" name="right_object_6_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_18" name="right_object_6_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_19" name="right_object_6_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_9" name="right_object_6_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_10" name="right_object_7_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_11" name="right_object_7_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_12" name="right_object_7_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_13" name="right_object_7_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_14" name="right_object_7_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_15" name="right_object_7_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_16" name="right_object_7_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_17" name="right_object_7_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_18" name="right_object_7_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_19" name="right_object_7_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_9" name="right_object_7_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
@@ -924,13 +1741,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -940,6 +1750,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -950,13 +1767,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -966,5 +1776,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/schunk/bimanual/wipe_board/scene_eq.xml b/processed/oakink/schunk/bimanual/wipe_board/scene_eq.xml
index b569caf46fe5c01cb704ba606d451a7c4f3fd554..24835c3f9baa352bd8b6cd8766ed4a269fd6a010 100644
--- a/processed/oakink/schunk/bimanual/wipe_board/scene_eq.xml
+++ b/processed/oakink/schunk/bimanual/wipe_board/scene_eq.xml
@@ -4,13 +4,13 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_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="300"/>
+    <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" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="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"/>
@@ -41,14 +41,33 @@
     <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
     <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
     <mesh name="right_0" file="objects/O02@0055@00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0055@00002/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0055@00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0055@00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0055@00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0055@00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0055@00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0055@00002/convex/7.obj"/>
     <mesh name="left_0" file="objects/O02@0054@00001/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0054@00001/convex/1.obj"/>
+    <mesh name="left_10" file="objects/O02@0054@00001/convex/10.obj"/>
+    <mesh name="left_11" file="objects/O02@0054@00001/convex/11.obj"/>
+    <mesh name="left_12" file="objects/O02@0054@00001/convex/12.obj"/>
+    <mesh name="left_13" file="objects/O02@0054@00001/convex/13.obj"/>
+    <mesh name="left_14" file="objects/O02@0054@00001/convex/14.obj"/>
+    <mesh name="left_15" file="objects/O02@0054@00001/convex/15.obj"/>
+    <mesh name="left_16" file="objects/O02@0054@00001/convex/16.obj"/>
+    <mesh name="left_17" file="objects/O02@0054@00001/convex/17.obj"/>
+    <mesh name="left_18" file="objects/O02@0054@00001/convex/18.obj"/>
+    <mesh name="left_19" file="objects/O02@0054@00001/convex/19.obj"/>
     <mesh name="left_2" file="objects/O02@0054@00001/convex/2.obj"/>
     <mesh name="left_3" file="objects/O02@0054@00001/convex/3.obj"/>
     <mesh name="left_4" file="objects/O02@0054@00001/convex/4.obj"/>
     <mesh name="left_5" file="objects/O02@0054@00001/convex/5.obj"/>
     <mesh name="left_6" file="objects/O02@0054@00001/convex/6.obj"/>
     <mesh name="left_7" file="objects/O02@0054@00001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/O02@0054@00001/convex/8.obj"/>
+    <mesh name="left_9" file="objects/O02@0054@00001/convex/9.obj"/>
     <mesh name="right_visual" file="objects/O02@0055@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0054@00001/visual.obj"/>
   </asset>
@@ -92,20 +111,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
                     <geom type="mesh" mesh="right_d11"/>
-                    <geom name="collision_hand_right_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_b" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
                       <geom type="mesh" mesh="right_d12"/>
-                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="right_hand_c" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
                         <geom type="mesh" mesh="right_d13"/>
-                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0.01 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0.01 0"/>
                       </body>
                     </body>
                   </body>
@@ -133,10 +152,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -159,10 +178,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="right_finger_tip"/>
-                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -186,10 +205,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="right_finger_tip"/>
-                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="right_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_right_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -208,10 +227,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="right_finger_tip"/>
-                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="right_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_right_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -257,20 +276,20 @@
                     <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
                     <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
                     <geom type="mesh" mesh="left_d11"/>
-                    <geom name="collision_hand_left_thumb_2" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.016 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
                       <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
                       <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
                       <geom type="mesh" mesh="left_d12"/>
-                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.012 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <body name="left_hand_thumb_distal" pos="0.03 0 0">
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
                         <geom type="mesh" mesh="left_d13"/>
-                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                        <site name="left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
-                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.012 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 -0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -298,10 +317,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_ring_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_ring_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -324,10 +343,10 @@
                           <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                           <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
                           <geom type="mesh" mesh="left_finger_tip"/>
-                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                          <site name="left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
-                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0.007 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0.007 0"/>
                         </body>
                       </body>
                     </body>
@@ -351,10 +370,10 @@
                         <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                         <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
                         <geom type="mesh" mesh="left_finger_tip"/>
-                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                        <site name="left_index_tip" pos="0.01 0 0"/>
-                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
-                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                        <geom name="collision_hand_left_index_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0.007 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0.007 0"/>
                       </body>
                     </body>
                   </body>
@@ -373,10 +392,10 @@
                       <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
                       <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
                       <geom type="mesh" mesh="left_finger_tip"/>
-                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
-                      <site name="left_middle_tip" pos="0.01 0 0"/>
-                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
-                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <geom name="collision_hand_left_middle_0" size="0.008 0.0075" pos="0.0075 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0.007 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0.007 0"/>
                     </body>
                   </body>
                 </body>
@@ -388,15 +407,22 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <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_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="-0.0312345 -0.0141977 0.00797173" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0312345 -0.0141977 0.00797173" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" size="0.01" 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"/>
@@ -430,22 +456,34 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_10"/>
+      <geom name="left_object_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_11"/>
+      <geom name="left_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_12"/>
+      <geom name="left_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_13"/>
+      <geom name="left_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_14"/>
+      <geom name="left_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_15"/>
+      <geom name="left_object_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_16"/>
+      <geom name="left_object_17" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_17"/>
+      <geom name="left_object_18" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_18"/>
+      <geom name="left_object_19" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_19"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
+      <geom name="left_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_9"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -481,14 +519,33 @@
 
   <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_10" name="floor_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_11" name="floor_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_12" name="floor_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_13" name="floor_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_14" name="floor_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_15" name="floor_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_16" name="floor_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_17" name="floor_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_18" name="floor_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_19" name="floor_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_9" name="floor_left_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_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"/>
@@ -506,23 +563,61 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_10" name="collision_hand_right_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_11" name="collision_hand_right_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_12" name="collision_hand_right_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_13" name="collision_hand_right_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_14" name="collision_hand_right_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_15" name="collision_hand_right_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_16" name="collision_hand_right_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_17" name="collision_hand_right_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_18" name="collision_hand_right_palm_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_19" name="collision_hand_right_palm_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_9" name="collision_hand_right_palm_0_left_object_9" 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="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_10" name="collision_hand_right_thumb_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_11" name="collision_hand_right_thumb_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_12" name="collision_hand_right_thumb_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_13" name="collision_hand_right_thumb_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_14" name="collision_hand_right_thumb_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_15" name="collision_hand_right_thumb_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_16" name="collision_hand_right_thumb_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_17" name="collision_hand_right_thumb_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_18" name="collision_hand_right_thumb_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_19" name="collision_hand_right_thumb_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_9" name="collision_hand_right_thumb_2_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -530,14 +625,33 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_10" name="collision_hand_right_thumb_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_11" name="collision_hand_right_thumb_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_12" name="collision_hand_right_thumb_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_13" name="collision_hand_right_thumb_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_14" name="collision_hand_right_thumb_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_15" name="collision_hand_right_thumb_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_16" name="collision_hand_right_thumb_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_17" name="collision_hand_right_thumb_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_18" name="collision_hand_right_thumb_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_19" name="collision_hand_right_thumb_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_9" name="collision_hand_right_thumb_1_left_object_9" condim="4" 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_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"/>
@@ -554,23 +668,61 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" 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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_10" name="collision_hand_right_thumb_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_11" name="collision_hand_right_thumb_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_12" name="collision_hand_right_thumb_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_13" name="collision_hand_right_thumb_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_14" name="collision_hand_right_thumb_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_15" name="collision_hand_right_thumb_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_16" name="collision_hand_right_thumb_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_17" name="collision_hand_right_thumb_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_18" name="collision_hand_right_thumb_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_19" name="collision_hand_right_thumb_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_9" name="collision_hand_right_thumb_0_left_object_9" condim="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_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="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_10" name="collision_hand_right_ring_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_11" name="collision_hand_right_ring_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_12" name="collision_hand_right_ring_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_13" name="collision_hand_right_ring_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_14" name="collision_hand_right_ring_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_15" name="collision_hand_right_ring_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_16" name="collision_hand_right_ring_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_17" name="collision_hand_right_ring_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_18" name="collision_hand_right_ring_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_19" name="collision_hand_right_ring_2_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_8" name="collision_hand_right_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_9" name="collision_hand_right_ring_2_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -578,14 +730,33 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_10" name="collision_hand_right_ring_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_11" name="collision_hand_right_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_12" name="collision_hand_right_ring_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_13" name="collision_hand_right_ring_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_14" name="collision_hand_right_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_15" name="collision_hand_right_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_16" name="collision_hand_right_ring_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_17" name="collision_hand_right_ring_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_18" name="collision_hand_right_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_19" name="collision_hand_right_ring_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_9" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
@@ -601,23 +772,61 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_10" name="collision_hand_right_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_11" name="collision_hand_right_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_12" name="collision_hand_right_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_13" name="collision_hand_right_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_14" name="collision_hand_right_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_15" name="collision_hand_right_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_16" name="collision_hand_right_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_17" name="collision_hand_right_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_18" name="collision_hand_right_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_19" name="collision_hand_right_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_9" name="collision_hand_right_ring_0_left_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_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="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_10" name="collision_hand_right_pinky_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_11" name="collision_hand_right_pinky_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_12" name="collision_hand_right_pinky_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_13" name="collision_hand_right_pinky_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_14" name="collision_hand_right_pinky_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_15" name="collision_hand_right_pinky_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_16" name="collision_hand_right_pinky_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_17" name="collision_hand_right_pinky_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_18" name="collision_hand_right_pinky_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_19" name="collision_hand_right_pinky_2_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_3" name="collision_hand_right_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_4" name="collision_hand_right_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_8" name="collision_hand_right_pinky_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_9" name="collision_hand_right_pinky_2_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -625,14 +834,33 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_10" name="collision_hand_right_pinky_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_11" name="collision_hand_right_pinky_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_12" name="collision_hand_right_pinky_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_13" name="collision_hand_right_pinky_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_14" name="collision_hand_right_pinky_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_15" name="collision_hand_right_pinky_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_16" name="collision_hand_right_pinky_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_17" name="collision_hand_right_pinky_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_18" name="collision_hand_right_pinky_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_19" name="collision_hand_right_pinky_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_9" name="collision_hand_right_pinky_1_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -647,23 +875,61 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_10" name="collision_hand_right_pinky_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_11" name="collision_hand_right_pinky_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_12" name="collision_hand_right_pinky_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_13" name="collision_hand_right_pinky_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_14" name="collision_hand_right_pinky_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_15" name="collision_hand_right_pinky_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_16" name="collision_hand_right_pinky_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_17" name="collision_hand_right_pinky_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_18" name="collision_hand_right_pinky_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_19" name="collision_hand_right_pinky_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_9" name="collision_hand_right_pinky_0_left_object_9" 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="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_10" name="collision_hand_right_index_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_11" name="collision_hand_right_index_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_12" name="collision_hand_right_index_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_13" name="collision_hand_right_index_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_14" name="collision_hand_right_index_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_15" name="collision_hand_right_index_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_16" name="collision_hand_right_index_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_17" name="collision_hand_right_index_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_18" name="collision_hand_right_index_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_19" name="collision_hand_right_index_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_8" name="collision_hand_right_index_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_9" name="collision_hand_right_index_2_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -671,14 +937,33 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_10" name="collision_hand_right_index_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_11" name="collision_hand_right_index_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_12" name="collision_hand_right_index_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_13" name="collision_hand_right_index_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_14" name="collision_hand_right_index_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_15" name="collision_hand_right_index_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_16" name="collision_hand_right_index_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_17" name="collision_hand_right_index_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_18" name="collision_hand_right_index_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_19" name="collision_hand_right_index_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_9" name="collision_hand_right_index_1_left_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"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -692,23 +977,61 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" 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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_10" name="collision_hand_right_index_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_11" name="collision_hand_right_index_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_12" name="collision_hand_right_index_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_13" name="collision_hand_right_index_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_14" name="collision_hand_right_index_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_15" name="collision_hand_right_index_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_16" name="collision_hand_right_index_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_17" name="collision_hand_right_index_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_18" name="collision_hand_right_index_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_19" name="collision_hand_right_index_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_9" name="collision_hand_right_index_0_left_object_9" condim="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_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="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_10" name="collision_hand_right_middle_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_11" name="collision_hand_right_middle_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_12" name="collision_hand_right_middle_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_13" name="collision_hand_right_middle_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_14" name="collision_hand_right_middle_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_15" name="collision_hand_right_middle_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_16" name="collision_hand_right_middle_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_17" name="collision_hand_right_middle_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_18" name="collision_hand_right_middle_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_19" name="collision_hand_right_middle_2_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_3" name="collision_hand_right_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_4" name="collision_hand_right_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_8" name="collision_hand_right_middle_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_9" name="collision_hand_right_middle_2_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -716,14 +1039,33 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_10" name="collision_hand_right_middle_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_11" name="collision_hand_right_middle_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_12" name="collision_hand_right_middle_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_13" name="collision_hand_right_middle_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_14" name="collision_hand_right_middle_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_15" name="collision_hand_right_middle_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_16" name="collision_hand_right_middle_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_17" name="collision_hand_right_middle_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_18" name="collision_hand_right_middle_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_19" name="collision_hand_right_middle_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_9" name="collision_hand_right_middle_1_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -736,181 +1078,656 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_10" name="collision_hand_right_middle_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_11" name="collision_hand_right_middle_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_12" name="collision_hand_right_middle_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_13" name="collision_hand_right_middle_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_14" name="collision_hand_right_middle_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_15" name="collision_hand_right_middle_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_16" name="collision_hand_right_middle_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_17" name="collision_hand_right_middle_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_18" name="collision_hand_right_middle_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_19" name="collision_hand_right_middle_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_9" name="collision_hand_right_middle_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_10" name="collision_hand_left_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_11" name="collision_hand_left_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_12" name="collision_hand_left_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_13" name="collision_hand_left_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_14" name="collision_hand_left_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_15" name="collision_hand_left_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_16" name="collision_hand_left_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_17" name="collision_hand_left_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_18" name="collision_hand_left_palm_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_19" name="collision_hand_left_palm_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_9" name="collision_hand_left_palm_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_10" name="collision_hand_left_thumb_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_11" name="collision_hand_left_thumb_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_12" name="collision_hand_left_thumb_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_13" name="collision_hand_left_thumb_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_14" name="collision_hand_left_thumb_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_15" name="collision_hand_left_thumb_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_16" name="collision_hand_left_thumb_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_17" name="collision_hand_left_thumb_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_18" name="collision_hand_left_thumb_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_19" name="collision_hand_left_thumb_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_9" name="collision_hand_left_thumb_2_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_10" name="collision_hand_left_thumb_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_11" name="collision_hand_left_thumb_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_12" name="collision_hand_left_thumb_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_13" name="collision_hand_left_thumb_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_14" name="collision_hand_left_thumb_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_15" name="collision_hand_left_thumb_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_16" name="collision_hand_left_thumb_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_17" name="collision_hand_left_thumb_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_18" name="collision_hand_left_thumb_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_19" name="collision_hand_left_thumb_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_9" name="collision_hand_left_thumb_1_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_10" name="collision_hand_left_thumb_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_11" name="collision_hand_left_thumb_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_12" name="collision_hand_left_thumb_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_13" name="collision_hand_left_thumb_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_14" name="collision_hand_left_thumb_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_15" name="collision_hand_left_thumb_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_16" name="collision_hand_left_thumb_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_17" name="collision_hand_left_thumb_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_18" name="collision_hand_left_thumb_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_19" name="collision_hand_left_thumb_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_9" name="collision_hand_left_thumb_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_10" name="collision_hand_left_ring_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_11" name="collision_hand_left_ring_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_12" name="collision_hand_left_ring_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_13" name="collision_hand_left_ring_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_14" name="collision_hand_left_ring_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_15" name="collision_hand_left_ring_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_16" name="collision_hand_left_ring_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_17" name="collision_hand_left_ring_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_18" name="collision_hand_left_ring_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_19" name="collision_hand_left_ring_2_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_8" name="collision_hand_left_ring_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_9" name="collision_hand_left_ring_2_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_10" name="collision_hand_left_ring_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_11" name="collision_hand_left_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_12" name="collision_hand_left_ring_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_13" name="collision_hand_left_ring_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_14" name="collision_hand_left_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_15" name="collision_hand_left_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_16" name="collision_hand_left_ring_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_17" name="collision_hand_left_ring_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_18" name="collision_hand_left_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_19" name="collision_hand_left_ring_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_9" name="collision_hand_left_ring_1_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_10" name="collision_hand_left_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_11" name="collision_hand_left_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_12" name="collision_hand_left_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_13" name="collision_hand_left_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_14" name="collision_hand_left_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_15" name="collision_hand_left_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_16" name="collision_hand_left_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_17" name="collision_hand_left_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_18" name="collision_hand_left_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_19" name="collision_hand_left_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_9" name="collision_hand_left_ring_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_10" name="collision_hand_left_pinky_2_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_11" name="collision_hand_left_pinky_2_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_12" name="collision_hand_left_pinky_2_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_13" name="collision_hand_left_pinky_2_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_14" name="collision_hand_left_pinky_2_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_15" name="collision_hand_left_pinky_2_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_16" name="collision_hand_left_pinky_2_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_17" name="collision_hand_left_pinky_2_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_18" name="collision_hand_left_pinky_2_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_19" name="collision_hand_left_pinky_2_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_3" name="collision_hand_left_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_4" name="collision_hand_left_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_5" name="collision_hand_left_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_6" name="collision_hand_left_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_2" geom2="left_object_7" name="collision_hand_left_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_8" name="collision_hand_left_pinky_2_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_9" name="collision_hand_left_pinky_2_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_10" name="collision_hand_left_pinky_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_11" name="collision_hand_left_pinky_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_12" name="collision_hand_left_pinky_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_13" name="collision_hand_left_pinky_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_14" name="collision_hand_left_pinky_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_15" name="collision_hand_left_pinky_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_16" name="collision_hand_left_pinky_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_17" name="collision_hand_left_pinky_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_18" name="collision_hand_left_pinky_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_19" name="collision_hand_left_pinky_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_9" name="collision_hand_left_pinky_1_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_10" name="collision_hand_left_pinky_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_11" name="collision_hand_left_pinky_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_12" name="collision_hand_left_pinky_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_13" name="collision_hand_left_pinky_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_14" name="collision_hand_left_pinky_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_15" name="collision_hand_left_pinky_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_16" name="collision_hand_left_pinky_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_17" name="collision_hand_left_pinky_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_18" name="collision_hand_left_pinky_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_19" name="collision_hand_left_pinky_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_9" name="collision_hand_left_pinky_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_10" name="collision_hand_left_index_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_11" name="collision_hand_left_index_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_12" name="collision_hand_left_index_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_13" name="collision_hand_left_index_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_14" name="collision_hand_left_index_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_15" name="collision_hand_left_index_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_16" name="collision_hand_left_index_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_17" name="collision_hand_left_index_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_18" name="collision_hand_left_index_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_19" name="collision_hand_left_index_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_3" name="collision_hand_left_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_4" name="collision_hand_left_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_5" name="collision_hand_left_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_6" name="collision_hand_left_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_2" geom2="left_object_7" name="collision_hand_left_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_9" name="collision_hand_left_middle_0_left_object_9" friction="1 1 0.1 0 0"/>
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+    <pair geom1="right_object_0" geom2="left_object_18" name="right_object_0_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_0" geom2="left_object_9" name="right_object_0_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_1" geom2="left_object_11" name="right_object_1_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_12" name="right_object_1_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_13" name="right_object_1_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_14" name="right_object_1_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_15" name="right_object_1_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_16" name="right_object_1_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_17" name="right_object_1_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_18" name="right_object_1_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_19" name="right_object_1_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_9" name="right_object_1_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_10" name="right_object_2_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_11" name="right_object_2_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_12" name="right_object_2_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_13" name="right_object_2_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_14" name="right_object_2_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_15" name="right_object_2_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_16" name="right_object_2_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_19" name="right_object_2_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_9" name="right_object_2_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_5" geom2="left_object_13" name="right_object_5_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_5" geom2="left_object_9" name="right_object_5_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_6" geom2="left_object_12" name="right_object_6_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_13" name="right_object_6_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_6" geom2="left_object_15" name="right_object_6_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_6" geom2="left_object_17" name="right_object_6_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_18" name="right_object_6_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_19" name="right_object_6_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_6" geom2="left_object_9" name="right_object_6_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_10" name="right_object_7_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_11" name="right_object_7_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_12" name="right_object_7_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_13" name="right_object_7_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_14" name="right_object_7_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_15" name="right_object_7_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_16" name="right_object_7_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_17" name="right_object_7_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_18" name="right_object_7_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_19" name="right_object_7_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_9" name="right_object_7_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
@@ -947,13 +1764,6 @@
     <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
     <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
     <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
-    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
-    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
-    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
     <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
     <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -963,6 +1773,13 @@
     <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
     <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
     <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
@@ -973,13 +1790,6 @@
     <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
     <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
     <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
-    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
-    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
-    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
-    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
-    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
     <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
     <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
     <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
@@ -989,5 +1799,12 @@
     <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
     <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
     <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakink/xhand/bimanual/complete_data.csv b/processed/oakink/xhand/bimanual/complete_data.csv
index 2ca9e18cc734a1e29ef4a87299988e29d5706316..3d8fce74e25c264b0f46b6992b9e25216bb0a3ea 100644
--- a/processed/oakink/xhand/bimanual/complete_data.csv
+++ b/processed/oakink/xhand/bimanual/complete_data.csv
@@ -1,8 +1,36 @@
 dataset,robot_type,embodiment_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
-oakink,xhand,bimanual,mjwp,uncap_alcohol_burner,0,uncap_alcohol_burner/0,0.07409536366381025,0.18897392725597748,0.143386646309471,0.004804081018149495,0.26166858692837497,0.11627926758358,True,0.1,0.5
-oakink,xhand,bimanual,mjwp,stir_beaker,0,stir_beaker/0,0.09444028073285361,0.5934550119514312,0.1748267091270928,0.014053852338614416,1.0748619584146142,0.1120480654882482,False,0.1,0.5
-oakink,xhand,bimanual,mjwp,unplug,0,unplug/0,0.035899920771594276,0.11780295511710492,0.06165440910444451,0.01014543243874405,0.1255769939341889,0.11002891630002094,True,0.1,0.5
-oakink,xhand,bimanual,mjwp,pick_spoon_bowl,0,pick_spoon_bowl/0,0.094026387872993,0.44110123583386057,0.14622732924790033,0.04182544649808568,0.8141815800105546,0.06802089165716654,True,0.1,0.5
-oakink,xhand,bimanual,mjwp,lift_board,0,lift_board/0,0.21842357251796896,0.374838290985983,0.21842357251796896,7.142218543473562e-05,0.374838290985983,4.761310999709814e-05,False,0.1,0.5
-oakink,xhand,bimanual,mjwp,pour_tube,0,pour_tube/0,0.16434135375271225,1.0735041060385206,0.12467094583938709,0.2040117616660374,0.8238791987187858,1.3231290133582554,False,0.1,0.5
-oakink,xhand,bimanual,mjwp,wipe_board,0,wipe_board/0,0.06894689786120774,0.211557975701542,0.06894689786120774,0.005915557797740802,0.211557975701542,0.027546999049581872,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,uncap_alcohol_burner,0,uncap_alcohol_burner/0,0.01788052669260608,0.2946698195048744,0.01788052669260608,0.0015544608223153563,0.2946698195048744,0.04305253481883763,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,uncap_alcohol_burner,1,uncap_alcohol_burner/1,0.05412542559720554,0.46231226484762244,0.05412542559720554,0.005107185625757197,0.46231226484762244,0.12141995021877142,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,uncap_alcohol_burner,2,uncap_alcohol_burner/2,0.056910011483909013,0.4711140456539424,0.056910011483909013,0.004269078334873964,0.4711140456539424,0.10790654235379477,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,uncap_alcohol_burner,3,uncap_alcohol_burner/3,0.05160082305966632,0.39692420448780674,0.05160082305966632,0.003754302450217032,0.39692420448780674,0.12142319803952367,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,uncap_alcohol_burner,4,uncap_alcohol_burner/4,0.04998678217570974,0.3070390198032347,0.04998678217570974,0.0033243216655300944,0.3070390198032347,0.10549814057953943,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,stir_beaker,0,stir_beaker/0,0.091288368868513,0.900504692517306,0.1583064356439104,0.02427030209311561,1.5628016197032373,0.23820776533137478,False,0.1,0.5
+oakink,xhand,bimanual,mjwp,stir_beaker,1,stir_beaker/1,0.03330642116778154,0.5499943186453173,0.03991925438796207,0.026693587947601002,0.848888723505556,0.2510999137850786,False,0.1,0.5
+oakink,xhand,bimanual,mjwp,stir_beaker,2,stir_beaker/2,0.0932978591566164,0.7601525734588734,0.15332079338048651,0.03327492493274628,1.3326701032122847,0.18763504370546225,False,0.1,0.5
+oakink,xhand,bimanual,mjwp,stir_beaker,3,stir_beaker/3,0.10097256965803633,0.8771463587267303,0.18734974849235175,0.0145953908237209,1.637278879784876,0.11701383766858457,False,0.1,0.5
+oakink,xhand,bimanual,mjwp,stir_beaker,4,stir_beaker/4,0.087176396035729,0.8354910975202596,0.16264303990334383,0.011709752168114188,1.596240533331443,0.07474166170907634,False,0.1,0.5
+oakink,xhand,bimanual,mjwp,unplug,0,unplug/0,0.009501946190046785,0.21887115369828727,0.013942295047000277,0.005061597333093291,0.2517901961342385,0.18595211126233607,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,unplug,1,unplug/1,0.011592331378979035,0.2005817985050471,0.01913960653425158,0.004045056223706489,0.26974865165914974,0.13141494535094442,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,unplug,2,unplug/2,0.011083000598580733,0.2141642635858906,0.016111160603628705,0.006054840593532762,0.28618315306522984,0.14214537410655137,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,unplug,3,unplug/3,0.012325015799538928,0.19660707530105945,0.020153601879001445,0.004496429720076412,0.2585172874481499,0.134696863153969,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,unplug,4,unplug/4,0.02600341817224623,0.2491791486653102,0.04716064442542795,0.004846191919064515,0.3612495033114752,0.13710879401914522,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,pick_spoon_bowl,0,pick_spoon_bowl/0,0.03744131013171472,0.33958579721898646,0.05193388301718293,0.02294873724624651,0.6144779881948538,0.06469360624311918,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,pick_spoon_bowl,1,pick_spoon_bowl/1,0.023755394450070223,0.40974884229091235,0.04235401816450661,0.005156770735633838,0.7637195502200446,0.05577813436178009,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,pick_spoon_bowl,2,pick_spoon_bowl/2,0.024911909464553066,0.34082884769829364,0.04450687324929685,0.005316945679809278,0.6663767966905647,0.015280898706022578,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,pick_spoon_bowl,3,pick_spoon_bowl/3,0.024078896698392024,0.33630455844739604,0.04201923330961268,0.006138560087171371,0.6409306182882375,0.03167849860655455,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,pick_spoon_bowl,4,pick_spoon_bowl/4,0.023035086855144066,0.4589287282578948,0.03959548042008126,0.006474693290206878,0.9019968116475078,0.01586064486828182,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,lift_board,0,lift_board/0,0.027077491202696563,0.1780614311370599,0.027077491202696563,3.141005958236562e-06,0.1780614311370599,4.760109107569344e-05,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,lift_board,1,lift_board/1,0.014950278051223157,0.156243089655073,0.014950278051223157,3.141005958236562e-06,0.156243089655073,4.7601120397355064e-05,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,lift_board,2,lift_board/2,0.014275318403453965,0.16276956083749974,0.014275318403453965,3.141005958236562e-06,0.16276956083749974,4.7601106599599326e-05,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,lift_board,3,lift_board/3,0.015045297498040353,0.16697544176012885,0.015045297498040353,3.141005958236562e-06,0.16697544176012885,4.760108849508444e-05,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,lift_board,4,lift_board/4,0.013385274267853445,0.15840398351557927,0.013385274267853445,3.141005958236562e-06,0.15840398351557927,4.760111695161302e-05,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,pour_tube,0,pour_tube/0,0.023754190372901107,0.9822148594698837,0.026462140462156215,0.021046240283646003,0.586405697876782,1.3780240210629855,False,0.1,0.5
+oakink,xhand,bimanual,mjwp,pour_tube,1,pour_tube/1,0.07355709026780821,2.4370148994947067,0.12695283408365005,0.02016134645196639,2.4741725963763668,2.3998572026130467,False,0.1,0.5
+oakink,xhand,bimanual,mjwp,pour_tube,2,pour_tube/2,0.07816411671909626,1.5800910228914349,0.13170617943194854,0.024622054006243992,1.6929240609229201,1.4672579848599498,False,0.1,0.5
+oakink,xhand,bimanual,mjwp,pour_tube,3,pour_tube/3,0.07847105787616064,1.4350086713566794,0.13149676003895214,0.025445355713369148,1.5147304081444917,1.355286934568867,False,0.1,0.5
+oakink,xhand,bimanual,mjwp,pour_tube,4,pour_tube/4,0.02107704897976362,1.855769220367267,0.016571141548615588,0.02558295641091165,1.2502654644303413,2.4612729763041927,False,0.1,0.5
+oakink,xhand,bimanual,mjwp,wipe_board,0,wipe_board/0,0.02654152832093697,0.3769943538704332,0.02654152832093697,0.012698247495245937,0.3769943538704332,0.03708368492080711,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,wipe_board,1,wipe_board/1,0.031253747850466,0.3793107731926982,0.031253747850466,0.015997951763067196,0.3793107731926982,0.05068451956713793,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,wipe_board,2,wipe_board/2,0.026431764763984057,0.3711319020701048,0.026431764763984057,0.011757742022148184,0.3711319020701048,0.06364228296630457,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,wipe_board,3,wipe_board/3,0.02619114302459221,0.3715603839662411,0.02619114302459221,0.016034804455043065,0.3715603839662411,0.05950103055085787,True,0.1,0.5
+oakink,xhand,bimanual,mjwp,wipe_board,4,wipe_board/4,0.021335819876090623,0.3805101873884582,0.021335819876090623,0.010886097507781313,0.3805101873884582,0.058878355205202335,True,0.1,0.5
diff --git a/processed/oakink/xhand/bimanual/lift_board/0/config.yaml b/processed/oakink/xhand/bimanual/lift_board/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a8a33cb04bc1ae4537d8a5556949af25db4d6e74
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/lift_board/0/config.yaml
@@ -0,0 +1,91 @@
+robot_type: xhand
+embodiment_type: bimanual
+task: lift_board
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/xhand/bimanual/lift_board/0/../scene.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/xhand/bimanual/lift_board/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.8
+knot_dt: 0.4
+max_sim_steps: 472
+nconmax_per_env: 100
+njmax_per_env: 320
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 1
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+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: mujoco-rerun
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 55
+- 3
+- 6
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--- a/processed/oakink/xhand/bimanual/lift_board/task_info.json
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diff --git a/processed/oakink/xhand/bimanual/pour_tube/3/visualization_mjwp.mp4 b/processed/oakink/xhand/bimanual/pour_tube/3/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51b25e7e549b9bea01734266e5a5ee6dd7db8570
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pour_tube/3/visualization_mjwp.mp4
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diff --git a/processed/oakink/xhand/bimanual/pour_tube/4/config.yaml b/processed/oakink/xhand/bimanual/pour_tube/4/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..fdaebdd6c07dd933f5f597f08f17e8a28dd45db8
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pour_tube/4/config.yaml
@@ -0,0 +1,91 @@
+robot_type: xhand
+embodiment_type: bimanual
+task: pour_tube
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/pour_tube/4/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/pour_tube/4/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
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+horizon: 2.0
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+max_sim_steps: 1604
+nconmax_per_env: 80
+njmax_per_env: 300
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
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+num_samples: 4096
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.001
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
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+base_pos_threshold: 0.5
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+use_torch_compile: true
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+contact_rew_scale: 0.0
+show_viewer: true
+viewer: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
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+- 50
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+ctrl_steps: 40
+nq_obj: 14
+nq: 50
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+nu: 36
+npair: 359
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/pour_tube/4
diff --git a/processed/oakink/xhand/bimanual/pour_tube/4/trajectory_kinematic.npz b/processed/oakink/xhand/bimanual/pour_tube/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d3e897fb4f385c36c3f1da2214ff52d822811882
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pour_tube/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/pour_tube/4/trajectory_mjwp.npz b/processed/oakink/xhand/bimanual/pour_tube/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f8e4cf5644c4024dfa8cecf78870a2b92e57e401
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pour_tube/4/trajectory_mjwp.npz
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diff --git a/processed/oakink/xhand/bimanual/pour_tube/4/visualization_mjwp.mp4 b/processed/oakink/xhand/bimanual/pour_tube/4/visualization_mjwp.mp4
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index 0000000000000000000000000000000000000000..065fbb2f12c896962f33833c75257fcf26fd8f54
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/pour_tube/scene.xml b/processed/oakink/xhand/bimanual/pour_tube/scene.xml
index dcb800e91ebb72411ac6d281ad4a801101b04573..4bf8c39d206dac79da1f7116902ab9d9969284fb 100644
--- a/processed/oakink/xhand/bimanual/pour_tube/scene.xml
+++ b/processed/oakink/xhand/bimanual/pour_tube/scene.xml
@@ -9,7 +9,7 @@
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@@ -44,17 +44,17 @@
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+    <mesh name="right_0" file="objects/O02@0011@00003/convex/0.obj"/>
     <mesh name="right_1" file="objects/O02@0011@00003/convex/1.obj"/>
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-    <mesh name="left_0" content_type="model/obj" file="objects/O02@0202@00002/convex/0.obj"/>
-    <mesh name="right_visual" content_type="model/obj" file="objects/O02@0011@00003/visual.obj"/>
-    <mesh name="left_visual" content_type="model/obj" file="objects/O02@0202@00002/visual.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="left_0" file="objects/O02@0202@00002/convex/0.obj"/>
+    <mesh name="right_visual" file="objects/O02@0011@00003/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0202@00002/visual.obj"/>
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@@ -96,11 +96,11 @@
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+                      <geom name="collision_hand_right_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
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-                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
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+                      <site name="track_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
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@@ -119,9 +119,9 @@
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-                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
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+                      <site name="track_hand_right_index_tip" pos="0 0.005 -0.03"/>
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@@ -136,9 +136,9 @@
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-                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.005 -0.03"/>
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@@ -152,9 +152,9 @@
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-                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.005 -0.03"/>
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                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
@@ -168,9 +168,9 @@
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-                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
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+                    <site name="track_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
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@@ -215,11 +215,11 @@
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-                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
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+                      <site name="track_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
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@@ -238,9 +238,9 @@
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-                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="track_hand_left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="trace_hand_left_index_tip" pos="0 -0.005 -0.03"/>
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@@ -255,9 +255,9 @@
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-                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
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+                    <site name="track_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
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@@ -271,9 +271,9 @@
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-                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
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@@ -287,9 +287,9 @@
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@@ -300,14 +300,14 @@
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+      <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_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"/>
@@ -349,7 +349,7 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
diff --git a/processed/oakink/xhand/bimanual/pour_tube/scene_eq.xml b/processed/oakink/xhand/bimanual/pour_tube/scene_eq.xml
index 9c33c868c9a7396c0225f39d2d21f71d71f92eaa..a11c31221b5c3004b8776a6baaeff01e01eec0e3 100644
--- a/processed/oakink/xhand/bimanual/pour_tube/scene_eq.xml
+++ b/processed/oakink/xhand/bimanual/pour_tube/scene_eq.xml
@@ -9,7 +9,7 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <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="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="300"/>
@@ -44,17 +44,17 @@
     <mesh name="left_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link2.STL"/>
     <mesh name="left_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link1.STL"/>
     <mesh name="left_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link2.STL"/>
-    <mesh name="right_0" content_type="model/obj" file="objects/O02@0011@00003/convex/0.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" content_type="model/obj" file="objects/O02@0011@00003/convex/2.obj"/>
-    <mesh name="right_3" content_type="model/obj" file="objects/O02@0011@00003/convex/3.obj"/>
-    <mesh name="right_4" content_type="model/obj" file="objects/O02@0011@00003/convex/4.obj"/>
-    <mesh name="right_5" content_type="model/obj" file="objects/O02@0011@00003/convex/5.obj"/>
-    <mesh name="right_6" content_type="model/obj" file="objects/O02@0011@00003/convex/6.obj"/>
-    <mesh name="right_7" content_type="model/obj" file="objects/O02@0011@00003/convex/7.obj"/>
-    <mesh name="left_0" content_type="model/obj" file="objects/O02@0202@00002/convex/0.obj"/>
-    <mesh name="right_visual" content_type="model/obj" file="objects/O02@0011@00003/visual.obj"/>
-    <mesh name="left_visual" content_type="model/obj" file="objects/O02@0202@00002/visual.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="left_0" file="objects/O02@0202@00002/convex/0.obj"/>
+    <mesh name="right_visual" file="objects/O02@0011@00003/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0202@00002/visual.obj"/>
   </asset>
 
   <worldbody>
@@ -96,11 +96,11 @@
                       <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
                       <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
                       <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 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="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
                     </body>
                   </body>
                 </body>
@@ -119,9 +119,9 @@
                       <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
                       <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.005 -0.03"/>
                     </body>
                   </body>
                 </body>
@@ -136,9 +136,9 @@
                     <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
                     <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
@@ -152,9 +152,9 @@
                     <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
                     <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
@@ -168,9 +168,9 @@
                     <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
                     <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
               </body>
@@ -215,11 +215,11 @@
                       <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
                       <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
                       <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
                     </body>
                   </body>
                 </body>
@@ -238,9 +238,9 @@
                       <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
                       <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="track_hand_left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="trace_hand_left_index_tip" pos="0 -0.005 -0.03"/>
                     </body>
                   </body>
                 </body>
@@ -255,9 +255,9 @@
                     <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
                     <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
@@ -271,9 +271,9 @@
                     <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
                     <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
@@ -287,9 +287,9 @@
                     <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
                     <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
               </body>
@@ -300,14 +300,14 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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"/>
@@ -349,7 +349,7 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
diff --git a/processed/oakink/xhand/bimanual/stir_beaker/0/config.yaml b/processed/oakink/xhand/bimanual/stir_beaker/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1953b9d89f7383653793930deebde97ff6c9ba6e
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/0/config.yaml
@@ -0,0 +1,91 @@
+robot_type: xhand
+embodiment_type: bimanual
+task: stir_beaker
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/xhand/bimanual/stir_beaker/0/../scene.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_kinematic.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.4
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 1.6
+knot_dt: 0.4
+max_sim_steps: 1154
+nconmax_per_env: 100
+njmax_per_env: 320
+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
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.01
+improvement_check_steps: 1
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 0.5
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.1
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+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: mujoco-rerun
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 50
+- 3
+- 6
+- 9
+- 12
+- 15
+- 19
+- 22
+- 25
+- 28
+- 31
+horizon_steps: 160
+knot_steps: 40
+ref_steps: 2
+ctrl_steps: 40
+nq_obj: 14
+nq: 50
+nv: 48
+nu: 36
+npair: 657
+beta_traj: 0.930572040929699
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diff --git a/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_ikrollout.npz b/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_ikrollout.npz
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diff --git a/processed/oakink/xhand/bimanual/stir_beaker/4/trajectory_kinematic.npz b/processed/oakink/xhand/bimanual/stir_beaker/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8bd68f73edba413d24fb94c169c115ca00f70903
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a15d7f127d689cb288f7ec0ffd7cbb8f13f5907eb4865826d507c9e7fe62631
+size 1055244
diff --git a/processed/oakink/xhand/bimanual/stir_beaker/4/trajectory_mjwp.npz b/processed/oakink/xhand/bimanual/stir_beaker/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cd98382aac25221d9164a254f45a4ba811051bc1
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f9cb798fb736b7d933caefa1791eec57527c0a386f6e0500a95b3e6fd878a98
+size 1337606
diff --git a/processed/oakink/xhand/bimanual/stir_beaker/4/visualization_mjwp.mp4 b/processed/oakink/xhand/bimanual/stir_beaker/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de741932d552e31b7f332eaef78fb34b74d6066e
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ba1e8062295f5e45d30ebabdf4588fa5b6775df4ef2e884874998fe88c135b6
+size 863696
diff --git a/processed/oakink/xhand/bimanual/stir_beaker/scene.xml b/processed/oakink/xhand/bimanual/stir_beaker/scene.xml
index 292a9482adaf8bdeffed1e00fe8d30890e00cca8..fe26dd5d7276a97a55eea47ed08dee4c3832b38b 100644
--- a/processed/oakink/xhand/bimanual/stir_beaker/scene.xml
+++ b/processed/oakink/xhand/bimanual/stir_beaker/scene.xml
@@ -9,7 +9,7 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <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="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="300"/>
@@ -45,6 +45,14 @@
     <mesh name="left_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link1.STL"/>
     <mesh name="left_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link2.STL"/>
     <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"/>
     <mesh name="left_0" file="objects/C11001/convex/0.obj"/>
     <mesh name="left_1" file="objects/C11001/convex/1.obj"/>
     <mesh name="left_2" file="objects/C11001/convex/2.obj"/>
@@ -53,6 +61,7 @@
     <mesh name="left_5" file="objects/C11001/convex/5.obj"/>
     <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
     <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/C11001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/C11001/visual.obj"/>
   </asset>
@@ -96,11 +105,11 @@
                       <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
                       <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
                       <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 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="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
                     </body>
                   </body>
                 </body>
@@ -119,9 +128,9 @@
                       <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
                       <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.005 -0.03"/>
                     </body>
                   </body>
                 </body>
@@ -136,9 +145,9 @@
                     <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
                     <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
@@ -152,9 +161,9 @@
                     <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
                     <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
@@ -168,9 +177,9 @@
                     <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
                     <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
               </body>
@@ -215,11 +224,11 @@
                       <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
                       <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
                       <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
                     </body>
                   </body>
                 </body>
@@ -238,9 +247,9 @@
                       <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
                       <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="track_hand_left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="trace_hand_left_index_tip" pos="0 -0.005 -0.03"/>
                     </body>
                   </body>
                 </body>
@@ -255,9 +264,9 @@
                     <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
                     <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
@@ -271,9 +280,9 @@
                     <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
                     <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
@@ -287,9 +296,9 @@
                     <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
                     <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
               </body>
@@ -300,7 +309,15 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <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"/>
@@ -342,14 +359,15 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
@@ -393,6 +411,14 @@
 
   <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -401,6 +427,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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"/>
@@ -418,6 +445,14 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_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_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -426,7 +461,16 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -435,6 +479,7 @@
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -442,6 +487,14 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -450,6 +503,7 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_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"/>
@@ -466,6 +520,14 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -474,6 +536,7 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -481,6 +544,14 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -489,6 +560,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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"/>
@@ -504,6 +576,14 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_index_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -512,6 +592,7 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -519,6 +600,14 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -527,6 +616,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -541,6 +631,14 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -549,6 +647,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -556,6 +655,14 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -564,6 +671,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -577,6 +685,14 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -585,6 +701,7 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -592,6 +709,14 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -600,6 +725,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -612,6 +738,14 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -620,12 +754,21 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -634,7 +777,16 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -643,7 +795,16 @@
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -652,11 +813,20 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -665,7 +835,16 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -674,10 +853,19 @@
     <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -686,7 +874,16 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -695,9 +892,18 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -706,7 +912,16 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -715,8 +930,17 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -725,7 +949,16 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -734,7 +967,16 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -743,6 +985,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -751,6 +994,79 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/oakink/xhand/bimanual/stir_beaker/scene_eq.xml b/processed/oakink/xhand/bimanual/stir_beaker/scene_eq.xml
index c6aa71f64c2f75a9ba50339bb771be96785734bd..bca6f37434e662c77410c5bcc6e13d0df5f238ea 100644
--- a/processed/oakink/xhand/bimanual/stir_beaker/scene_eq.xml
+++ b/processed/oakink/xhand/bimanual/stir_beaker/scene_eq.xml
@@ -9,7 +9,7 @@
   </default>
 
   <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <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="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="300"/>
@@ -45,6 +45,14 @@
     <mesh name="left_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link1.STL"/>
     <mesh name="left_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link2.STL"/>
     <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"/>
     <mesh name="left_0" file="objects/C11001/convex/0.obj"/>
     <mesh name="left_1" file="objects/C11001/convex/1.obj"/>
     <mesh name="left_2" file="objects/C11001/convex/2.obj"/>
@@ -53,6 +61,7 @@
     <mesh name="left_5" file="objects/C11001/convex/5.obj"/>
     <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
     <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/C11001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/C11001/visual.obj"/>
   </asset>
@@ -96,11 +105,11 @@
                       <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
                       <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
                       <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 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="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
                     </body>
                   </body>
                 </body>
@@ -119,9 +128,9 @@
                       <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
                       <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.005 -0.03"/>
                     </body>
                   </body>
                 </body>
@@ -136,9 +145,9 @@
                     <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
                     <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
@@ -152,9 +161,9 @@
                     <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
                     <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
@@ -168,9 +177,9 @@
                     <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
                     <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
                   </body>
                 </body>
               </body>
@@ -215,11 +224,11 @@
                       <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
                       <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
                       <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
                     </body>
                   </body>
                 </body>
@@ -238,9 +247,9 @@
                       <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
                       <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="track_hand_left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="trace_hand_left_index_tip" pos="0 -0.005 -0.03"/>
                     </body>
                   </body>
                 </body>
@@ -255,9 +264,9 @@
                     <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
                     <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
@@ -271,9 +280,9 @@
                     <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
                     <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
@@ -287,9 +296,9 @@
                     <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
                     <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
                   </body>
                 </body>
               </body>
@@ -300,7 +309,15 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <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"/>
@@ -342,14 +359,15 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
@@ -393,6 +411,14 @@
 
   <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="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -401,6 +427,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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"/>
@@ -418,6 +445,14 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_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_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -426,7 +461,16 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" 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_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -435,6 +479,7 @@
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -442,6 +487,14 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -450,6 +503,7 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_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"/>
@@ -466,6 +520,14 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -474,6 +536,7 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -481,6 +544,14 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -489,6 +560,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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"/>
@@ -504,6 +576,14 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_index_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -512,6 +592,7 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -519,6 +600,14 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -527,6 +616,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -541,6 +631,14 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -549,6 +647,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -556,6 +655,14 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -564,6 +671,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -577,6 +685,14 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -585,6 +701,7 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -592,6 +709,14 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -600,6 +725,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -612,6 +738,14 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -620,12 +754,21 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -634,7 +777,16 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -643,7 +795,16 @@
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -652,11 +813,20 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -665,7 +835,16 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -674,10 +853,19 @@
     <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -686,7 +874,16 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -695,9 +892,18 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -706,7 +912,16 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -715,8 +930,17 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -725,7 +949,16 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -734,7 +967,16 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -743,6 +985,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -751,6 +994,79 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
diff --git a/processed/oakink/xhand/bimanual/summary.csv b/processed/oakink/xhand/bimanual/summary.csv
index d9ae0d502bfb5668f40cbf3101d3728a280adeb3..4d94618bcbff12c798e746effbf07d596b1402c6 100644
--- a/processed/oakink/xhand/bimanual/summary.csv
+++ b/processed/oakink/xhand/bimanual/summary.csv
@@ -1,8 +1,43 @@
 dataset,robot_type,embodiment_type,data_type,task,data_id,obj_pos_err,obj_quat_err,success,pos_err_threshold,quat_err_threshold,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,timestamp
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diff --git a/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0/config.yaml b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..68d7950311f4b98097ca8a471f3da66f220a2da9
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: xhand
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+task: uncap_alcohol_burner
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+dataset_dir: example_datasets
+dataset_name: oakink
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+save_config: true
+trace_dt: 0.02
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+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0
diff --git a/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz
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+++ b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz
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diff --git a/processed/oakink/xhand/bimanual/uncap_alcohol_burner/1/config.yaml b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/1/config.yaml
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@@ -83,27 +85,27 @@
                 <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
                 <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
                 <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
-                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
                 <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
                 <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
                   <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
                   <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
                   <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
-                  <geom name="collision_hand_right_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
                     <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
                     <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
                     <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
-                    <geom name="collision_hand_right_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
                       <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
                       <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
                       <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 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="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
                     </body>
                   </body>
                 </body>
@@ -115,16 +117,16 @@
                     <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                     <joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
-                    <geom name="collision_hand_right_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                       <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                       <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
-                      <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027"/>
                     </body>
                   </body>
                 </body>
@@ -132,48 +134,48 @@
                   <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566199" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
-                  <geom name="collision_hand_right_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
                     <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
-                    <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
                   <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
-                  <geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
-                    <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
                   <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
-                  <geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
-                    <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
               </body>
@@ -202,27 +204,27 @@
                 <inertial pos="-0.00718397 -0.00342396 -0.0584832" quat="0.712643 0.0910084 0.100904 0.688241" mass="0.529961" diaginertia="0.000678163 0.000491768 0.000335587"/>
                 <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
                 <geom name="left_hand_link_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_link"/>
-                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_left_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
                 <site name="left_palm" pos="0 0 0" quat="0 0.707107 -0.707107 0" size="0.01 0.02 0.03" type="box"/>
                 <body name="left_hand_thumb_bend_link" pos="0.0228 -0.0095 -0.0305">
                   <inertial pos="0.0145291 0.000901344 -0.000127912" quat="-0.028902 0.68936 -0.0167067 0.72365" mass="0.00985534" diaginertia="1.30648e-06 1.29142e-06 5.40957e-07"/>
                   <joint name="left_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 -1" range="0 1.83"/>
                   <geom name="left_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="left_hand_thumb_bend_link"/>
-                  <geom name="collision_hand_left_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_thumb_rota_link1" pos="0.028599 -0.0083177 0.00178" quat="0.99124 -0.130499 0.00265603 -0.0201745">
                     <inertial pos="0.0279279 0.000121046 -0.000277543" quat="0.0994744 0.703642 -0.0845458 0.698459" mass="0.153197" diaginertia="5.62164e-05 4.89587e-05 2.23807e-05"/>
                     <joint name="left_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
                     <geom name="left_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1"/>
-                    <geom name="collision_hand_left_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0">
                       <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
                       <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
                       <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="left_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.04 0 -0.012"/>
                     </body>
                   </body>
                 </body>
@@ -234,16 +236,16 @@
                     <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809181 0.0131314 0.00566203" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                     <joint name="left_hand_index_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_index_rota_link1"/>
-                    <geom name="collision_hand_left_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                       <joint name="left_hand_index_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                       <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
-                      <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="left_index_tip" pos="0 -0.004 -0.027"/>
+                      <site name="track_hand_left_index_tip" pos="0 -0.004 -0.027"/>
+                      <site name="trace_hand_left_index_tip" pos="0 -0.004 -0.027"/>
                     </body>
                   </body>
                 </body>
@@ -251,48 +253,48 @@
                   <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809181 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="left_hand_mid_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_mid_link1"/>
-                  <geom name="collision_hand_left_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338572 -1.93625e-05 -0.0231328" quat="0.935372 -0.00588866 0.0260883 0.352653" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="left_hand_mid_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
-                    <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="left_middle_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_middle_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
                   <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809184 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.13501e-06"/>
                   <joint name="left_hand_ring_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_ring_link1"/>
-                  <geom name="collision_hand_left_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="left_hand_ring_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
-                    <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="left_ring_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_ring_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
                   <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809183 0.0131314 0.00566202" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="left_hand_pinky_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_pinky_link1"/>
-                  <geom name="collision_hand_left_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338573 -1.93618e-05 -0.0231328" quat="0.935377 -0.00588901 0.0260881 0.35264" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="left_hand_pinky_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
-                    <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="left_pinky_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
               </body>
@@ -303,22 +305,20 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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="0.0135767 0.0358624 0.00113103" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" 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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0135767 0.0358624 0.00113103" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" 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"/>
@@ -352,18 +352,22 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -404,12 +408,14 @@
     <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" 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"/>
@@ -432,24 +438,28 @@
     <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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" 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="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -462,12 +472,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" 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"/>
@@ -489,12 +501,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -507,12 +521,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" 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"/>
@@ -533,12 +549,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -551,12 +569,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" 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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -576,12 +596,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -594,12 +616,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" 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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -618,12 +642,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -636,12 +662,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -659,12 +687,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -676,36 +706,42 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -716,24 +752,28 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -743,24 +783,28 @@
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
@@ -769,24 +813,28 @@
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
@@ -794,68 +842,90 @@
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/oakink/xhand/bimanual/uncap_alcohol_burner/scene_eq.xml b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/scene_eq.xml
index b9ed2ad508fda90625e2dd65fd8a7e7815814f79..8ba1d656da134561cfcd6ed7cff4f6e92d59e799 100644
--- a/processed/oakink/xhand/bimanual/uncap_alcohol_burner/scene_eq.xml
+++ b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/scene_eq.xml
@@ -4,12 +4,12 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <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="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="300"/>
@@ -50,12 +50,14 @@
     <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj"/>
     <mesh name="right_5" file="objects/O02@0206@00001/convex/5.obj"/>
-    <mesh name="right_6" file="objects/O02@0206@00001/convex/6.obj"/>
-    <mesh name="right_7" file="objects/O02@0206@00001/convex/7.obj"/>
     <mesh name="left_0" file="objects/O02@0206@00002/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0206@00002/convex/1.obj"/>
     <mesh name="left_2" file="objects/O02@0206@00002/convex/2.obj"/>
     <mesh name="left_3" file="objects/O02@0206@00002/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0206@00002/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0206@00002/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0206@00002/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0206@00002/convex/7.obj"/>
     <mesh name="right_visual" file="objects/O02@0206@00001/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0206@00002/visual.obj"/>
   </asset>
@@ -83,27 +85,27 @@
                 <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
                 <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
                 <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
-                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
                 <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
                 <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
                   <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
                   <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
                   <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
-                  <geom name="collision_hand_right_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
                     <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
                     <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
                     <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
-                    <geom name="collision_hand_right_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
                       <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
                       <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
                       <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 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="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
                     </body>
                   </body>
                 </body>
@@ -115,16 +117,16 @@
                     <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                     <joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
-                    <geom name="collision_hand_right_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                       <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                       <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
-                      <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027"/>
                     </body>
                   </body>
                 </body>
@@ -132,48 +134,48 @@
                   <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566199" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
-                  <geom name="collision_hand_right_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
                     <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
-                    <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
                   <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
-                  <geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
-                    <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
                   <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
-                  <geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
-                    <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
               </body>
@@ -202,27 +204,27 @@
                 <inertial pos="-0.00718397 -0.00342396 -0.0584832" quat="0.712643 0.0910084 0.100904 0.688241" mass="0.529961" diaginertia="0.000678163 0.000491768 0.000335587"/>
                 <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
                 <geom name="left_hand_link_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_link"/>
-                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_left_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
                 <site name="left_palm" pos="0 0 0" quat="0 0.707107 -0.707107 0" size="0.01 0.02 0.03" type="box"/>
                 <body name="left_hand_thumb_bend_link" pos="0.0228 -0.0095 -0.0305">
                   <inertial pos="0.0145291 0.000901344 -0.000127912" quat="-0.028902 0.68936 -0.0167067 0.72365" mass="0.00985534" diaginertia="1.30648e-06 1.29142e-06 5.40957e-07"/>
                   <joint name="left_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 -1" range="0 1.83"/>
                   <geom name="left_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="left_hand_thumb_bend_link"/>
-                  <geom name="collision_hand_left_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_thumb_rota_link1" pos="0.028599 -0.0083177 0.00178" quat="0.99124 -0.130499 0.00265603 -0.0201745">
                     <inertial pos="0.0279279 0.000121046 -0.000277543" quat="0.0994744 0.703642 -0.0845458 0.698459" mass="0.153197" diaginertia="5.62164e-05 4.89587e-05 2.23807e-05"/>
                     <joint name="left_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
                     <geom name="left_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1"/>
-                    <geom name="collision_hand_left_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0">
                       <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
                       <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
                       <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="left_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.04 0 -0.012"/>
                     </body>
                   </body>
                 </body>
@@ -234,16 +236,16 @@
                     <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809181 0.0131314 0.00566203" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                     <joint name="left_hand_index_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_index_rota_link1"/>
-                    <geom name="collision_hand_left_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                       <joint name="left_hand_index_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                       <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
-                      <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="left_index_tip" pos="0 -0.004 -0.027"/>
+                      <site name="track_hand_left_index_tip" pos="0 -0.004 -0.027"/>
+                      <site name="trace_hand_left_index_tip" pos="0 -0.004 -0.027"/>
                     </body>
                   </body>
                 </body>
@@ -251,48 +253,48 @@
                   <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809181 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="left_hand_mid_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_mid_link1"/>
-                  <geom name="collision_hand_left_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338572 -1.93625e-05 -0.0231328" quat="0.935372 -0.00588866 0.0260883 0.352653" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="left_hand_mid_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
-                    <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="left_middle_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_middle_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
                   <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809184 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.13501e-06"/>
                   <joint name="left_hand_ring_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_ring_link1"/>
-                  <geom name="collision_hand_left_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="left_hand_ring_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
-                    <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="left_ring_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_ring_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
                   <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809183 0.0131314 0.00566202" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="left_hand_pinky_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_pinky_link1"/>
-                  <geom name="collision_hand_left_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338573 -1.93618e-05 -0.0231328" quat="0.935377 -0.00588901 0.0260881 0.35264" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="left_hand_pinky_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
-                    <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="left_pinky_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
               </body>
@@ -303,22 +305,20 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <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_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="0.0135767 0.0358624 0.00113103" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" 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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0135767 0.0358624 0.00113103" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" 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"/>
@@ -352,18 +352,22 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -404,12 +408,14 @@
     <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" 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"/>
@@ -432,24 +438,28 @@
     <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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" 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="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -462,12 +472,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" 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"/>
@@ -489,12 +501,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -507,12 +521,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" 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"/>
@@ -533,12 +549,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -551,12 +569,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" 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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -576,12 +596,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -594,12 +616,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" 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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -618,12 +642,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -636,12 +662,14 @@
     <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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -659,12 +687,14 @@
     <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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -676,36 +706,42 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -716,24 +752,28 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -743,24 +783,28 @@
     <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
@@ -769,24 +813,28 @@
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
@@ -794,68 +842,90 @@
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
-    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
diff --git a/processed/oakink/xhand/bimanual/unplug/0/config.yaml b/processed/oakink/xhand/bimanual/unplug/0/config.yaml
new file mode 100644
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+device: cuda:0
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+nconmax_per_env: 100
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+num_dyn: 1
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+- -0.005
+- 0.005
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+- 0.005
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+temperature: 1.0
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+show_viewer: true
+viewer: ''
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
+num_trace_topk_samples: 2
+trace_site_ids:
+- 33
+- 50
+- 3
+- 6
+- 9
+- 12
+- 15
+- 19
+- 22
+- 25
+- 28
+- 31
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+ctrl_steps: 40
+nq_obj: 14
+nq: 50
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+nu: 36
+npair: 657
+beta_traj: 0.930572040929699
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/unplug/4
diff --git a/processed/oakink/xhand/bimanual/unplug/4/trajectory_kinematic.npz b/processed/oakink/xhand/bimanual/unplug/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0a6d128de412e33a5349c01bd7985e9eeebdda86
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2be196d57b25b589a00216b4921d68e575daa4023bacf25ba1fae13bd49535e
+size 715980
diff --git a/processed/oakink/xhand/bimanual/unplug/4/trajectory_mjwp.npz b/processed/oakink/xhand/bimanual/unplug/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7998bc309520b4337bd7ca5ab81176c577f289d8
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
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+oid sha256:bab655505d31ed5176a2f7aaa12177f0a3ae31293fab2cb2b07ccd12558f24cd
+size 924542
diff --git a/processed/oakink/xhand/bimanual/unplug/4/visualization_mjwp.mp4 b/processed/oakink/xhand/bimanual/unplug/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..742695e837b29fa5140639742f8e797245b1f846
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c24d2ca6184490ba88b575dda27296d813a81254c2e6a2161e10d61de77667a9
+size 488380
diff --git a/processed/oakink/xhand/bimanual/unplug/scene.xml b/processed/oakink/xhand/bimanual/unplug/scene.xml
index 612069dca44e1b719fac33108b68fc9844e0bd92..2b890757c64ffe664381c8270a42565703360676 100644
--- a/processed/oakink/xhand/bimanual/unplug/scene.xml
+++ b/processed/oakink/xhand/bimanual/unplug/scene.xml
@@ -4,7 +4,7 @@
   <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"/>
+    <site group="3" rgba="1 0 0 1"/>
     <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
   </default>
 
@@ -52,6 +52,7 @@
     <mesh name="right_5" file="objects/O02@0047@00002/convex/5.obj"/>
     <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
     <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0047@00002/convex/8.obj"/>
     <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
     <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
@@ -60,6 +61,7 @@
     <mesh name="left_5" file="objects/O02@0047@00001/convex/5.obj"/>
     <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
     <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/O02@0047@00001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
   </asset>
@@ -87,27 +89,27 @@
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-                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
                 <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
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-                  <geom name="collision_hand_right_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
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+                    <geom name="collision_hand_right_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
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-                      <site name="track_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
-                      <site name="trace_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
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+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
                     </body>
                   </body>
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@@ -119,16 +121,16 @@
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-                    <geom name="collision_hand_right_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
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                     <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
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-                      <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
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-                      <site name="track_hand_right_index_tip" pos="0 0.005 -0.03"/>
-                      <site name="trace_hand_right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027"/>
                     </body>
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@@ -136,48 +138,48 @@
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                   <geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
-                  <geom name="collision_hand_right_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
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                     <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
-                    <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
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-                    <site name="track_hand_right_middle_tip" pos="0 0.005 -0.03"/>
-                    <site name="trace_hand_right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027"/>
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                   <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
-                  <geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
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-                    <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
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-                    <site name="trace_hand_right_ring_tip" pos="0 0.005 -0.03"/>
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+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027"/>
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-                  <geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
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-                    <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
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-                    <site name="trace_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
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@@ -206,27 +208,27 @@
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-                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
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                     <joint name="left_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
                     <geom name="left_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1"/>
-                    <geom name="collision_hand_left_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0">
                       <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
                       <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
                       <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
                       <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_thumb_tip" pos="0.045 0 -0.015"/>
-                      <site name="track_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
-                      <site name="trace_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="left_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.04 0 -0.012"/>
                     </body>
                   </body>
                 </body>
@@ -238,16 +240,16 @@
                     <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809181 0.0131314 0.00566203" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                     <joint name="left_hand_index_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_index_rota_link1"/>
-                    <geom name="collision_hand_left_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                       <joint name="left_hand_index_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                       <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
-                      <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_index_tip" pos="0 -0.005 -0.03"/>
-                      <site name="track_hand_left_index_tip" pos="0 -0.005 -0.03"/>
-                      <site name="trace_hand_left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="left_index_tip" pos="0 -0.004 -0.027"/>
+                      <site name="track_hand_left_index_tip" pos="0 -0.004 -0.027"/>
+                      <site name="trace_hand_left_index_tip" pos="0 -0.004 -0.027"/>
                     </body>
                   </body>
                 </body>
@@ -255,48 +257,48 @@
                   <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809181 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="left_hand_mid_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_mid_link1"/>
-                  <geom name="collision_hand_left_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338572 -1.93625e-05 -0.0231328" quat="0.935372 -0.00588866 0.0260883 0.352653" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="left_hand_mid_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
-                    <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_middle_tip" pos="0 -0.005 -0.03"/>
-                    <site name="track_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="left_middle_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_middle_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
                   <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809184 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.13501e-06"/>
                   <joint name="left_hand_ring_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_ring_link1"/>
-                  <geom name="collision_hand_left_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="left_hand_ring_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
-                    <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_ring_tip" pos="0 -0.005 -0.03"/>
-                    <site name="track_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
-                    <site name="trace_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="left_ring_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_ring_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
                   <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809183 0.0131314 0.00566202" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="left_hand_pinky_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_pinky_link1"/>
-                  <geom name="collision_hand_left_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338573 -1.93618e-05 -0.0231328" quat="0.935377 -0.00588901 0.0260881 0.35264" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="left_hand_pinky_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
-                    <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_pinky_tip" pos="0 -0.005 -0.03"/>
-                    <site name="track_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="left_pinky_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
               </body>
@@ -315,14 +317,15 @@
       <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="0.00980974 0.00883008 0.00582814" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" 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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00980974 0.00883008 0.00582814" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" 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"/>
@@ -364,14 +367,15 @@
       <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
       <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
       <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -414,6 +418,7 @@
     <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -422,6 +427,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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"/>
@@ -446,6 +452,7 @@
     <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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -454,6 +461,7 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" 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"/>
@@ -462,6 +470,7 @@
     <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="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -470,6 +479,7 @@
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -484,6 +494,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -492,6 +503,7 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_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"/>
@@ -515,6 +527,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -523,6 +536,7 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -537,6 +551,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -545,6 +560,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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"/>
@@ -567,6 +583,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -575,6 +592,7 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -589,6 +607,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -597,6 +616,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -618,6 +638,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -626,6 +647,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -640,6 +662,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -648,6 +671,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -668,6 +692,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -676,6 +701,7 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -690,6 +716,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -698,6 +725,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -717,6 +745,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -725,6 +754,7 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -738,6 +768,7 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -746,6 +777,7 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -754,6 +786,7 @@
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -762,6 +795,7 @@
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -770,6 +804,7 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -778,6 +813,7 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -790,6 +826,7 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -798,6 +835,7 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -806,6 +844,7 @@
     <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -814,6 +853,7 @@
     <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -825,6 +865,7 @@
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -833,6 +874,7 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -841,6 +883,7 @@
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -849,6 +892,7 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
@@ -859,6 +903,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -867,6 +912,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -875,6 +921,7 @@
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -883,6 +930,7 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
@@ -892,6 +940,7 @@
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -900,6 +949,7 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -908,6 +958,7 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -916,6 +967,7 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
@@ -924,6 +976,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -932,6 +985,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -940,6 +994,7 @@
     <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -948,6 +1003,7 @@
     <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -956,6 +1012,7 @@
     <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -964,6 +1021,7 @@
     <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -972,6 +1030,7 @@
     <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -980,6 +1039,7 @@
     <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -988,6 +1048,7 @@
     <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -996,6 +1057,16 @@
     <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
     <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/oakink/xhand/bimanual/unplug/scene_eq.xml b/processed/oakink/xhand/bimanual/unplug/scene_eq.xml
index 1926469160521a5125fc7b38b2764adaafd94bc7..bd2d9f0b8b5852b71d300b2ea41c104f50e772b6 100644
--- a/processed/oakink/xhand/bimanual/unplug/scene_eq.xml
+++ b/processed/oakink/xhand/bimanual/unplug/scene_eq.xml
@@ -4,7 +4,7 @@
   <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"/>
+    <site group="3" rgba="1 0 0 1"/>
     <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
   </default>
 
@@ -52,6 +52,7 @@
     <mesh name="right_5" file="objects/O02@0047@00002/convex/5.obj"/>
     <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
     <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0047@00002/convex/8.obj"/>
     <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
     <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
     <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
@@ -60,6 +61,7 @@
     <mesh name="left_5" file="objects/O02@0047@00001/convex/5.obj"/>
     <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
     <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/O02@0047@00001/convex/8.obj"/>
     <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
   </asset>
@@ -87,27 +89,27 @@
                 <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
                 <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
                 <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
-                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
                 <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
                 <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
                   <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
                   <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
                   <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
-                  <geom name="collision_hand_right_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
                     <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
                     <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
                     <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
-                    <geom name="collision_hand_right_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
                       <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
                       <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
                       <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
                       <geom name="collision_hand_right_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_thumb_tip" pos="0.045 0 -0.015"/>
-                      <site name="track_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
-                      <site name="trace_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
                     </body>
                   </body>
                 </body>
@@ -119,16 +121,16 @@
                     <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                     <joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
-                    <geom name="collision_hand_right_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                       <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                       <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
-                      <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_index_tip" pos="0 0.005 -0.03"/>
-                      <site name="track_hand_right_index_tip" pos="0 0.005 -0.03"/>
-                      <site name="trace_hand_right_index_tip" pos="0 0.005 -0.03"/>
+                      <site name="right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027"/>
                     </body>
                   </body>
                 </body>
@@ -136,48 +138,48 @@
                   <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566199" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
-                  <geom name="collision_hand_right_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
                     <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
-                    <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_middle_tip" pos="0 0.005 -0.03"/>
-                    <site name="track_hand_right_middle_tip" pos="0 0.005 -0.03"/>
-                    <site name="trace_hand_right_middle_tip" pos="0 0.005 -0.03"/>
+                    <site name="right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
                   <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
-                  <geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
-                    <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_ring_tip" pos="0 0.005 -0.03"/>
-                    <site name="track_hand_right_ring_tip" pos="0 0.005 -0.03"/>
-                    <site name="trace_hand_right_ring_tip" pos="0 0.005 -0.03"/>
+                    <site name="right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
                   <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
-                  <geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
-                    <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_pinky_tip" pos="0 0.005 -0.03"/>
-                    <site name="track_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
               </body>
@@ -206,27 +208,27 @@
                 <inertial pos="-0.00718397 -0.00342396 -0.0584832" quat="0.712643 0.0910084 0.100904 0.688241" mass="0.529961" diaginertia="0.000678163 0.000491768 0.000335587"/>
                 <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
                 <geom name="left_hand_link_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_link"/>
-                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_left_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
                 <site name="left_palm" pos="0 0 0" quat="0 0.707107 -0.707107 0" size="0.01 0.02 0.03" type="box"/>
                 <body name="left_hand_thumb_bend_link" pos="0.0228 -0.0095 -0.0305">
                   <inertial pos="0.0145291 0.000901344 -0.000127912" quat="-0.028902 0.68936 -0.0167067 0.72365" mass="0.00985534" diaginertia="1.30648e-06 1.29142e-06 5.40957e-07"/>
                   <joint name="left_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 -1" range="0 1.83"/>
                   <geom name="left_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="left_hand_thumb_bend_link"/>
-                  <geom name="collision_hand_left_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_thumb_rota_link1" pos="0.028599 -0.0083177 0.00178" quat="0.99124 -0.130499 0.00265603 -0.0201745">
                     <inertial pos="0.0279279 0.000121046 -0.000277543" quat="0.0994744 0.703642 -0.0845458 0.698459" mass="0.153197" diaginertia="5.62164e-05 4.89587e-05 2.23807e-05"/>
                     <joint name="left_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
                     <geom name="left_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1"/>
-                    <geom name="collision_hand_left_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0">
                       <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
                       <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
                       <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
                       <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_thumb_tip" pos="0.045 0 -0.015"/>
-                      <site name="track_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
-                      <site name="trace_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
+                      <site name="left_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.04 0 -0.012"/>
                     </body>
                   </body>
                 </body>
@@ -238,16 +240,16 @@
                     <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809181 0.0131314 0.00566203" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                     <joint name="left_hand_index_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_index_rota_link1"/>
-                    <geom name="collision_hand_left_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                       <joint name="left_hand_index_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                       <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
-                      <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_index_tip" pos="0 -0.005 -0.03"/>
-                      <site name="track_hand_left_index_tip" pos="0 -0.005 -0.03"/>
-                      <site name="trace_hand_left_index_tip" pos="0 -0.005 -0.03"/>
+                      <site name="left_index_tip" pos="0 -0.004 -0.027"/>
+                      <site name="track_hand_left_index_tip" pos="0 -0.004 -0.027"/>
+                      <site name="trace_hand_left_index_tip" pos="0 -0.004 -0.027"/>
                     </body>
                   </body>
                 </body>
@@ -255,48 +257,48 @@
                   <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809181 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="left_hand_mid_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_mid_link1"/>
-                  <geom name="collision_hand_left_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338572 -1.93625e-05 -0.0231328" quat="0.935372 -0.00588866 0.0260883 0.352653" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="left_hand_mid_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
-                    <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_middle_tip" pos="0 -0.005 -0.03"/>
-                    <site name="track_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
+                    <site name="left_middle_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_middle_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
                   <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809184 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.13501e-06"/>
                   <joint name="left_hand_ring_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_ring_link1"/>
-                  <geom name="collision_hand_left_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="left_hand_ring_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
-                    <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_ring_tip" pos="0 -0.005 -0.03"/>
-                    <site name="track_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
-                    <site name="trace_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
+                    <site name="left_ring_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_ring_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
                   <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809183 0.0131314 0.00566202" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="left_hand_pinky_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_pinky_link1"/>
-                  <geom name="collision_hand_left_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338573 -1.93618e-05 -0.0231328" quat="0.935377 -0.00588901 0.0260881 0.35264" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="left_hand_pinky_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
-                    <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_pinky_tip" pos="0 -0.005 -0.03"/>
-                    <site name="track_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
+                    <site name="left_pinky_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
               </body>
@@ -315,14 +317,15 @@
       <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="0.00980974 0.00883008 0.00582814" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" 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"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00980974 0.00883008 0.00582814" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" 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"/>
@@ -364,14 +367,15 @@
       <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
       <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
       <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -414,6 +418,7 @@
     <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
@@ -422,6 +427,7 @@
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_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"/>
@@ -446,6 +452,7 @@
     <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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -454,6 +461,7 @@
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" 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"/>
@@ -462,6 +470,7 @@
     <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="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -470,6 +479,7 @@
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -484,6 +494,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -492,6 +503,7 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_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"/>
@@ -515,6 +527,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -523,6 +536,7 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -537,6 +551,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -545,6 +560,7 @@
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_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"/>
@@ -567,6 +583,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -575,6 +592,7 @@
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -589,6 +607,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -597,6 +616,7 @@
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -618,6 +638,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -626,6 +647,7 @@
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -640,6 +662,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -648,6 +671,7 @@
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -668,6 +692,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -676,6 +701,7 @@
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -690,6 +716,7 @@
     <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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -698,6 +725,7 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -717,6 +745,7 @@
     <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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -725,6 +754,7 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
@@ -738,6 +768,7 @@
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -746,6 +777,7 @@
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -754,6 +786,7 @@
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -762,6 +795,7 @@
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -770,6 +804,7 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -778,6 +813,7 @@
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
@@ -790,6 +826,7 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -798,6 +835,7 @@
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_8" name="collision_hand_left_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -806,6 +844,7 @@
     <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -814,6 +853,7 @@
     <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
@@ -825,6 +865,7 @@
     <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
@@ -833,6 +874,7 @@
     <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_8" name="collision_hand_left_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -841,6 +883,7 @@
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -849,6 +892,7 @@
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
@@ -859,6 +903,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -867,6 +912,7 @@
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -875,6 +921,7 @@
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -883,6 +930,7 @@
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
@@ -892,6 +940,7 @@
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -900,6 +949,7 @@
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
@@ -908,6 +958,7 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
@@ -916,6 +967,7 @@
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
@@ -924,6 +976,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
@@ -932,6 +985,7 @@
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
     <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -940,6 +994,7 @@
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     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -948,6 +1003,7 @@
     <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -956,6 +1012,7 @@
     <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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@@ -964,6 +1021,7 @@
     <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -972,6 +1030,7 @@
     <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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@@ -980,6 +1039,7 @@
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     <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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@@ -988,6 +1048,7 @@
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     <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
@@ -996,6 +1057,16 @@
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     <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>
diff --git a/processed/oakink/xhand/bimanual/wipe_board/0/config.yaml b/processed/oakink/xhand/bimanual/wipe_board/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..96e3ea2d967a7c0970de082350e8fe60f25801c1
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/wipe_board/0/config.yaml
@@ -0,0 +1,92 @@
+robot_type: xhand
+embodiment_type: bimanual
+task: wipe_board
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/xhand/bimanual/wipe_board/0/../scene.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_kinematic.npz
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+num_dyn: 1
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+- -0.005
+- 0.005
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+trace_dt: 0.02
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+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/xhand/bimanual/wipe_board/0
diff --git a/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_ikrollout.npz b/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_ikrollout.npz
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+++ b/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_ikrollout.npz
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diff --git a/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_kinematic.npz b/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_kinematic.npz
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--- a/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_kinematic.npz
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index 0000000000000000000000000000000000000000..9b1b25923fa517d1023d8aec54513bce12742a3f
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/wipe_board/1/config.yaml
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+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/wipe_board/1/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/wipe_board/1/trajectory_kinematic.npz
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diff --git a/processed/oakink/xhand/bimanual/wipe_board/1/trajectory_kinematic.npz b/processed/oakink/xhand/bimanual/wipe_board/1/trajectory_kinematic.npz
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                   <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
                   <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
                   <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
-                  <geom name="collision_hand_right_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
                     <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
                     <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
                     <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
-                    <geom name="collision_hand_right_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
                       <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
                       <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
                       <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 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="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
                     </body>
                   </body>
                 </body>
@@ -112,16 +131,16 @@
                     <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                     <joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
-                    <geom name="collision_hand_right_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                       <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                       <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
-                      <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027"/>
                     </body>
                   </body>
                 </body>
@@ -129,48 +148,48 @@
                   <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566199" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
-                  <geom name="collision_hand_right_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
                     <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
-                    <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
                   <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
-                  <geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
-                    <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
                   <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
-                  <geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
-                    <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
               </body>
@@ -199,27 +218,27 @@
                 <inertial pos="-0.00718397 -0.00342396 -0.0584832" quat="0.712643 0.0910084 0.100904 0.688241" mass="0.529961" diaginertia="0.000678163 0.000491768 0.000335587"/>
                 <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
                 <geom name="left_hand_link_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_link"/>
-                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_left_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
                 <site name="left_palm" pos="0 0 0" quat="0 0.707107 -0.707107 0" size="0.01 0.02 0.03" type="box"/>
                 <body name="left_hand_thumb_bend_link" pos="0.0228 -0.0095 -0.0305">
                   <inertial pos="0.0145291 0.000901344 -0.000127912" quat="-0.028902 0.68936 -0.0167067 0.72365" mass="0.00985534" diaginertia="1.30648e-06 1.29142e-06 5.40957e-07"/>
                   <joint name="left_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 -1" range="0 1.83"/>
                   <geom name="left_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="left_hand_thumb_bend_link"/>
-                  <geom name="collision_hand_left_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_thumb_rota_link1" pos="0.028599 -0.0083177 0.00178" quat="0.99124 -0.130499 0.00265603 -0.0201745">
                     <inertial pos="0.0279279 0.000121046 -0.000277543" quat="0.0994744 0.703642 -0.0845458 0.698459" mass="0.153197" diaginertia="5.62164e-05 4.89587e-05 2.23807e-05"/>
                     <joint name="left_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
                     <geom name="left_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1"/>
-                    <geom name="collision_hand_left_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0">
                       <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
                       <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
                       <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="left_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.04 0 -0.012"/>
                     </body>
                   </body>
                 </body>
@@ -231,16 +250,16 @@
                     <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809181 0.0131314 0.00566203" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                     <joint name="left_hand_index_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_index_rota_link1"/>
-                    <geom name="collision_hand_left_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                       <joint name="left_hand_index_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                       <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
-                      <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="left_index_tip" pos="0 -0.004 -0.027"/>
+                      <site name="track_hand_left_index_tip" pos="0 -0.004 -0.027"/>
+                      <site name="trace_hand_left_index_tip" pos="0 -0.004 -0.027"/>
                     </body>
                   </body>
                 </body>
@@ -248,48 +267,48 @@
                   <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809181 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="left_hand_mid_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_mid_link1"/>
-                  <geom name="collision_hand_left_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338572 -1.93625e-05 -0.0231328" quat="0.935372 -0.00588866 0.0260883 0.352653" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="left_hand_mid_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
-                    <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="left_middle_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_middle_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
                   <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809184 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.13501e-06"/>
                   <joint name="left_hand_ring_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_ring_link1"/>
-                  <geom name="collision_hand_left_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="left_hand_ring_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
-                    <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="left_ring_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_ring_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
                   <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809183 0.0131314 0.00566202" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="left_hand_pinky_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_pinky_link1"/>
-                  <geom name="collision_hand_left_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338573 -1.93618e-05 -0.0231328" quat="0.935377 -0.00588901 0.0260881 0.35264" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="left_hand_pinky_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
-                    <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="left_pinky_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
               </body>
@@ -300,15 +319,22 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <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_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="-0.0312345 -0.0141977 0.00797173" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0312345 -0.0141977 0.00797173" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" size="0.01" 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"/>
@@ -342,22 +368,34 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_10"/>
+      <geom name="left_object_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_11"/>
+      <geom name="left_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_12"/>
+      <geom name="left_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_13"/>
+      <geom name="left_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_14"/>
+      <geom name="left_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_15"/>
+      <geom name="left_object_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_16"/>
+      <geom name="left_object_17" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_17"/>
+      <geom name="left_object_18" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_18"/>
+      <geom name="left_object_19" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_19"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
+      <geom name="left_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_9"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -393,14 +431,33 @@
 
   <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_10" name="floor_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_11" name="floor_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_12" name="floor_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_13" name="floor_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_14" name="floor_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_15" name="floor_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_16" name="floor_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_17" name="floor_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_18" name="floor_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_19" name="floor_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_9" name="floor_left_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"/>
@@ -418,23 +475,61 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_10" name="collision_hand_right_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_11" name="collision_hand_right_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_12" name="collision_hand_right_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_13" name="collision_hand_right_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_14" name="collision_hand_right_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_15" name="collision_hand_right_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_16" name="collision_hand_right_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_17" name="collision_hand_right_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_18" name="collision_hand_right_palm_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_19" name="collision_hand_right_palm_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_9" name="collision_hand_right_palm_0_left_object_9" 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="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_10" name="collision_hand_right_thumb_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_11" name="collision_hand_right_thumb_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_12" name="collision_hand_right_thumb_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_13" name="collision_hand_right_thumb_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_14" name="collision_hand_right_thumb_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_15" name="collision_hand_right_thumb_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_16" name="collision_hand_right_thumb_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_17" name="collision_hand_right_thumb_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_18" name="collision_hand_right_thumb_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_19" name="collision_hand_right_thumb_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_9" name="collision_hand_right_thumb_2_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -442,14 +537,33 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_10" name="collision_hand_right_thumb_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_11" name="collision_hand_right_thumb_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_12" name="collision_hand_right_thumb_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_13" name="collision_hand_right_thumb_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_14" name="collision_hand_right_thumb_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_15" name="collision_hand_right_thumb_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_16" name="collision_hand_right_thumb_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_17" name="collision_hand_right_thumb_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_18" name="collision_hand_right_thumb_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_19" name="collision_hand_right_thumb_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_9" name="collision_hand_right_thumb_1_left_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"/>
@@ -466,14 +580,33 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_10" name="collision_hand_right_thumb_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_11" name="collision_hand_right_thumb_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_12" name="collision_hand_right_thumb_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_13" name="collision_hand_right_thumb_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_14" name="collision_hand_right_thumb_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_15" name="collision_hand_right_thumb_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_16" name="collision_hand_right_thumb_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_17" name="collision_hand_right_thumb_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_18" name="collision_hand_right_thumb_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_19" name="collision_hand_right_thumb_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_9" name="collision_hand_right_thumb_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -481,14 +614,33 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_10" name="collision_hand_right_index_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_11" name="collision_hand_right_index_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_12" name="collision_hand_right_index_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_13" name="collision_hand_right_index_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_14" name="collision_hand_right_index_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_15" name="collision_hand_right_index_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_16" name="collision_hand_right_index_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_17" name="collision_hand_right_index_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_18" name="collision_hand_right_index_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_19" name="collision_hand_right_index_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_9" name="collision_hand_right_index_1_left_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"/>
     <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"/>
@@ -504,14 +656,33 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_index_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_10" name="collision_hand_right_index_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_11" name="collision_hand_right_index_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_12" name="collision_hand_right_index_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_13" name="collision_hand_right_index_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_14" name="collision_hand_right_index_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_15" name="collision_hand_right_index_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_16" name="collision_hand_right_index_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_17" name="collision_hand_right_index_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_18" name="collision_hand_right_index_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_19" name="collision_hand_right_index_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_9" name="collision_hand_right_index_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -519,14 +690,33 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_10" name="collision_hand_right_middle_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_11" name="collision_hand_right_middle_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_12" name="collision_hand_right_middle_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_13" name="collision_hand_right_middle_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_14" name="collision_hand_right_middle_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_15" name="collision_hand_right_middle_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_16" name="collision_hand_right_middle_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_17" name="collision_hand_right_middle_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_18" name="collision_hand_right_middle_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_19" name="collision_hand_right_middle_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_9" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -541,14 +731,33 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_10" name="collision_hand_right_middle_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_11" name="collision_hand_right_middle_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_12" name="collision_hand_right_middle_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_13" name="collision_hand_right_middle_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_14" name="collision_hand_right_middle_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_15" name="collision_hand_right_middle_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_16" name="collision_hand_right_middle_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_17" name="collision_hand_right_middle_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_18" name="collision_hand_right_middle_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_19" name="collision_hand_right_middle_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_9" name="collision_hand_right_middle_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -556,14 +765,33 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_10" name="collision_hand_right_ring_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_11" name="collision_hand_right_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_12" name="collision_hand_right_ring_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_13" name="collision_hand_right_ring_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_14" name="collision_hand_right_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_15" name="collision_hand_right_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_16" name="collision_hand_right_ring_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_17" name="collision_hand_right_ring_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_18" name="collision_hand_right_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_19" name="collision_hand_right_ring_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_9" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -577,14 +805,33 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_10" name="collision_hand_right_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_11" name="collision_hand_right_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_12" name="collision_hand_right_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_13" name="collision_hand_right_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_14" name="collision_hand_right_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_15" name="collision_hand_right_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_16" name="collision_hand_right_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_17" name="collision_hand_right_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_18" name="collision_hand_right_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_19" name="collision_hand_right_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_9" name="collision_hand_right_ring_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -592,14 +839,33 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_10" name="collision_hand_right_pinky_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_11" name="collision_hand_right_pinky_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_12" name="collision_hand_right_pinky_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_13" name="collision_hand_right_pinky_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_14" name="collision_hand_right_pinky_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_15" name="collision_hand_right_pinky_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_16" name="collision_hand_right_pinky_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_17" name="collision_hand_right_pinky_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_18" name="collision_hand_right_pinky_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_19" name="collision_hand_right_pinky_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_9" name="collision_hand_right_pinky_1_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -612,145 +878,544 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_10" name="collision_hand_right_pinky_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_11" name="collision_hand_right_pinky_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_12" name="collision_hand_right_pinky_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_13" name="collision_hand_right_pinky_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_14" name="collision_hand_right_pinky_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_15" name="collision_hand_right_pinky_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_16" name="collision_hand_right_pinky_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_17" name="collision_hand_right_pinky_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_18" name="collision_hand_right_pinky_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_19" name="collision_hand_right_pinky_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_9" name="collision_hand_right_pinky_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_10" name="collision_hand_left_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_11" name="collision_hand_left_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_12" name="collision_hand_left_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_13" name="collision_hand_left_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_14" name="collision_hand_left_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_15" name="collision_hand_left_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_16" name="collision_hand_left_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_17" name="collision_hand_left_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_18" name="collision_hand_left_palm_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_19" name="collision_hand_left_palm_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_9" name="collision_hand_left_palm_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_18" name="collision_hand_left_thumb_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_11" name="collision_hand_left_thumb_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_16" name="collision_hand_left_thumb_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_17" name="collision_hand_left_thumb_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_18" name="collision_hand_left_thumb_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_8" name="collision_hand_left_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_9" name="collision_hand_left_thumb_1_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_8" name="collision_hand_left_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_9" name="collision_hand_left_index_1_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_10" name="collision_hand_left_index_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_11" name="collision_hand_left_index_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_18" name="collision_hand_left_middle_0_left_object_18" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_11" name="collision_hand_left_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_14" name="collision_hand_left_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_15" name="collision_hand_left_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_18" name="collision_hand_left_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_11" name="collision_hand_left_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_12" name="collision_hand_left_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_13" name="collision_hand_left_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_14" name="collision_hand_left_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_15" name="collision_hand_left_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_16" name="collision_hand_left_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_17" name="collision_hand_left_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_18" name="collision_hand_left_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_10" name="collision_hand_left_pinky_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_11" name="collision_hand_left_pinky_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_12" name="collision_hand_left_pinky_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_13" name="collision_hand_left_pinky_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_14" name="collision_hand_left_pinky_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_15" name="collision_hand_left_pinky_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_16" name="collision_hand_left_pinky_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_17" name="collision_hand_left_pinky_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_18" name="collision_hand_left_pinky_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_19" name="collision_hand_left_pinky_1_left_object_19" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_9" name="collision_hand_left_pinky_1_left_object_9" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_10" name="collision_hand_left_pinky_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_11" name="collision_hand_left_pinky_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_12" name="collision_hand_left_pinky_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_13" name="collision_hand_left_pinky_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_14" name="collision_hand_left_pinky_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_15" name="collision_hand_left_pinky_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_16" name="collision_hand_left_pinky_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_17" name="collision_hand_left_pinky_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_18" name="collision_hand_left_pinky_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_19" name="collision_hand_left_pinky_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_9" name="collision_hand_left_pinky_0_left_object_9" friction="1 1 0.1 0 0"/>
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     <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_10" name="right_object_0_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_11" name="right_object_0_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_12" name="right_object_0_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_13" name="right_object_0_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_14" name="right_object_0_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_15" name="right_object_0_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_16" name="right_object_0_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_17" name="right_object_0_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_18" name="right_object_0_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_19" name="right_object_0_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
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     <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_9" name="right_object_0_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_10" name="right_object_1_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_11" name="right_object_1_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_12" name="right_object_1_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_13" name="right_object_1_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_14" name="right_object_1_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_15" name="right_object_1_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_16" name="right_object_1_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_17" name="right_object_1_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_18" name="right_object_1_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_19" name="right_object_1_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_9" name="right_object_1_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_10" name="right_object_2_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_11" name="right_object_2_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_12" name="right_object_2_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_13" name="right_object_2_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_14" name="right_object_2_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_15" name="right_object_2_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_16" name="right_object_2_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_17" name="right_object_2_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_18" name="right_object_2_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_19" name="right_object_2_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_9" name="right_object_2_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_10" name="right_object_3_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_11" name="right_object_3_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_12" name="right_object_3_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_13" name="right_object_3_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_14" name="right_object_3_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_15" name="right_object_3_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_16" name="right_object_3_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_17" name="right_object_3_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_18" name="right_object_3_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_19" name="right_object_3_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_9" name="right_object_3_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_10" name="right_object_4_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_11" name="right_object_4_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_12" name="right_object_4_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_13" name="right_object_4_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_14" name="right_object_4_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_15" name="right_object_4_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_16" name="right_object_4_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_17" name="right_object_4_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_18" name="right_object_4_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_19" name="right_object_4_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_9" name="right_object_4_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_10" name="right_object_5_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_11" name="right_object_5_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_12" name="right_object_5_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_13" name="right_object_5_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_14" name="right_object_5_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_15" name="right_object_5_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_16" name="right_object_5_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_17" name="right_object_5_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_18" name="right_object_5_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_19" name="right_object_5_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_9" name="right_object_5_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_10" name="right_object_6_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_11" name="right_object_6_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_12" name="right_object_6_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_13" name="right_object_6_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_14" name="right_object_6_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_15" name="right_object_6_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_16" name="right_object_6_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_17" name="right_object_6_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_18" name="right_object_6_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_19" name="right_object_6_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_9" name="right_object_6_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_10" name="right_object_7_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_11" name="right_object_7_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_12" name="right_object_7_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_13" name="right_object_7_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_14" name="right_object_7_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_15" name="right_object_7_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_16" name="right_object_7_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_17" name="right_object_7_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_18" name="right_object_7_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_19" name="right_object_7_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_9" name="right_object_7_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/oakink/xhand/bimanual/wipe_board/scene_eq.xml b/processed/oakink/xhand/bimanual/wipe_board/scene_eq.xml
index fb324d4f978fcaeb82ec774c828ff7d071b6c8e8..24f083cc333fe1dabb3fe1fa716216c2cc959d51 100644
--- a/processed/oakink/xhand/bimanual/wipe_board/scene_eq.xml
+++ b/processed/oakink/xhand/bimanual/wipe_board/scene_eq.xml
@@ -4,12 +4,12 @@
   <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"/>
+    <site 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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <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="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
     <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
     <texture type="2d" colorspace="auto" name="left_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="300"/>
@@ -44,17 +44,36 @@
     <mesh name="left_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link2.STL"/>
     <mesh name="left_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link1.STL"/>
     <mesh name="left_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link2.STL"/>
-    <mesh name="right_0" content_type="model/obj" file="objects/O02@0055@00002/convex/0.obj"/>
-    <mesh name="left_0" content_type="model/obj" file="objects/O02@0054@00001/convex/0.obj"/>
-    <mesh name="left_1" content_type="model/obj" file="objects/O02@0054@00001/convex/1.obj"/>
-    <mesh name="left_2" content_type="model/obj" file="objects/O02@0054@00001/convex/2.obj"/>
-    <mesh name="left_3" content_type="model/obj" file="objects/O02@0054@00001/convex/3.obj"/>
-    <mesh name="left_4" content_type="model/obj" file="objects/O02@0054@00001/convex/4.obj"/>
-    <mesh name="left_5" content_type="model/obj" file="objects/O02@0054@00001/convex/5.obj"/>
-    <mesh name="left_6" content_type="model/obj" file="objects/O02@0054@00001/convex/6.obj"/>
-    <mesh name="left_7" content_type="model/obj" file="objects/O02@0054@00001/convex/7.obj"/>
-    <mesh name="right_visual" content_type="model/obj" file="objects/O02@0055@00002/visual.obj"/>
-    <mesh name="left_visual" content_type="model/obj" file="objects/O02@0054@00001/visual.obj"/>
+    <mesh name="right_0" file="objects/O02@0055@00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0055@00002/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0055@00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0055@00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0055@00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0055@00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0055@00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0055@00002/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0054@00001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0054@00001/convex/1.obj"/>
+    <mesh name="left_10" file="objects/O02@0054@00001/convex/10.obj"/>
+    <mesh name="left_11" file="objects/O02@0054@00001/convex/11.obj"/>
+    <mesh name="left_12" file="objects/O02@0054@00001/convex/12.obj"/>
+    <mesh name="left_13" file="objects/O02@0054@00001/convex/13.obj"/>
+    <mesh name="left_14" file="objects/O02@0054@00001/convex/14.obj"/>
+    <mesh name="left_15" file="objects/O02@0054@00001/convex/15.obj"/>
+    <mesh name="left_16" file="objects/O02@0054@00001/convex/16.obj"/>
+    <mesh name="left_17" file="objects/O02@0054@00001/convex/17.obj"/>
+    <mesh name="left_18" file="objects/O02@0054@00001/convex/18.obj"/>
+    <mesh name="left_19" file="objects/O02@0054@00001/convex/19.obj"/>
+    <mesh name="left_2" file="objects/O02@0054@00001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0054@00001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0054@00001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0054@00001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0054@00001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0054@00001/convex/7.obj"/>
+    <mesh name="left_8" file="objects/O02@0054@00001/convex/8.obj"/>
+    <mesh name="left_9" file="objects/O02@0054@00001/convex/9.obj"/>
+    <mesh name="right_visual" file="objects/O02@0055@00002/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0054@00001/visual.obj"/>
   </asset>
 
   <worldbody>
@@ -80,27 +99,27 @@
                 <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
                 <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
                 <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
-                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_right_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
                 <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
                 <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
                   <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
                   <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
                   <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
-                  <geom name="collision_hand_right_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
                     <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
                     <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
                     <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
-                    <geom name="collision_hand_right_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
                       <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
                       <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
                       <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 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="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
-                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012"/>
                     </body>
                   </body>
                 </body>
@@ -112,16 +131,16 @@
                     <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                     <joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
-                    <geom name="collision_hand_right_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                       <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                       <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
-                      <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_right_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="track_hand_right_index_tip" pos="0 0.004 -0.027"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0.004 -0.027"/>
                     </body>
                   </body>
                 </body>
@@ -129,48 +148,48 @@
                   <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566199" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
-                  <geom name="collision_hand_right_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
                     <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
-                    <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
-                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
                   <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
-                  <geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
-                    <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
                   <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                   <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
-                  <geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
                     <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
-                    <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0.004 -0.027"/>
                   </body>
                 </body>
               </body>
@@ -199,27 +218,27 @@
                 <inertial pos="-0.00718397 -0.00342396 -0.0584832" quat="0.712643 0.0910084 0.100904 0.688241" mass="0.529961" diaginertia="0.000678163 0.000491768 0.000335587"/>
                 <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
                 <geom name="left_hand_link_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_link"/>
-                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <geom name="collision_hand_left_palm_0" size="0.04 0.024 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
                 <site name="left_palm" pos="0 0 0" quat="0 0.707107 -0.707107 0" size="0.01 0.02 0.03" type="box"/>
                 <body name="left_hand_thumb_bend_link" pos="0.0228 -0.0095 -0.0305">
                   <inertial pos="0.0145291 0.000901344 -0.000127912" quat="-0.028902 0.68936 -0.0167067 0.72365" mass="0.00985534" diaginertia="1.30648e-06 1.29142e-06 5.40957e-07"/>
                   <joint name="left_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 -1" range="0 1.83"/>
                   <geom name="left_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="left_hand_thumb_bend_link"/>
-                  <geom name="collision_hand_left_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_thumb_2" size="0.015 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_thumb_rota_link1" pos="0.028599 -0.0083177 0.00178" quat="0.99124 -0.130499 0.00265603 -0.0201745">
                     <inertial pos="0.0279279 0.000121046 -0.000277543" quat="0.0994744 0.703642 -0.0845458 0.698459" mass="0.153197" diaginertia="5.62164e-05 4.89587e-05 2.23807e-05"/>
                     <joint name="left_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
                     <geom name="left_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1"/>
-                    <geom name="collision_hand_left_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_thumb_1" size="0.02 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0">
                       <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
                       <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
                       <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
-                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
-                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="left_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.04 0 -0.012"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.04 0 -0.012"/>
                     </body>
                   </body>
                 </body>
@@ -231,16 +250,16 @@
                     <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809181 0.0131314 0.00566203" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                     <joint name="left_hand_index_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_index_rota_link1"/>
-                    <geom name="collision_hand_left_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_index_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                     <body name="left_hand_index_rota_link2" pos="0 0 -0.0558">
                       <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                       <joint name="left_hand_index_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                       <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
-                      <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom name="collision_hand_left_index_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                       <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                      <site name="left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
-                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="left_index_tip" pos="0 -0.004 -0.027"/>
+                      <site name="track_hand_left_index_tip" pos="0 -0.004 -0.027"/>
+                      <site name="trace_hand_left_index_tip" pos="0 -0.004 -0.027"/>
                     </body>
                   </body>
                 </body>
@@ -248,48 +267,48 @@
                   <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809181 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="left_hand_mid_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_mid_link1"/>
-                  <geom name="collision_hand_left_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_middle_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_mid_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338572 -1.93625e-05 -0.0231328" quat="0.935372 -0.00588866 0.0260883 0.352653" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="left_hand_mid_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
-                    <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_middle_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="left_middle_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_middle_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
                   <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809184 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.13501e-06"/>
                   <joint name="left_hand_ring_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_ring_link1"/>
-                  <geom name="collision_hand_left_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_ring_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_ring_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
                     <joint name="left_hand_ring_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
-                    <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_ring_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="left_ring_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_ring_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
                 <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
                   <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809183 0.0131314 0.00566202" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
                   <joint name="left_hand_pinky_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                   <geom name="left_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_pinky_link1"/>
-                  <geom name="collision_hand_left_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.012 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
                   <body name="left_hand_pinky_link2" pos="0 0 -0.0558">
                     <inertial pos="0.000338573 -1.93618e-05 -0.0231328" quat="0.935377 -0.00588901 0.0260881 0.35264" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
                     <joint name="left_hand_pinky_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
                     <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
-                    <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.01 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
                     <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
-                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
-                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="left_pinky_tip" pos="0 -0.004 -0.027"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 -0.004 -0.027"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 -0.004 -0.027"/>
                   </body>
                 </body>
               </body>
@@ -300,15 +319,22 @@
     </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <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_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="-0.0312345 -0.0141977 0.00797173" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" group="4" rgba="0 1 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0312345 -0.0141977 0.00797173" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" size="0.01" 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"/>
@@ -342,22 +368,34 @@
     </body>
     <body name="left_object">
       <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
-      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
-      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
-      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
-      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
-      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
-      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
-      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_10"/>
+      <geom name="left_object_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_11"/>
+      <geom name="left_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_12"/>
+      <geom name="left_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_13"/>
+      <geom name="left_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_14"/>
+      <geom name="left_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_15"/>
+      <geom name="left_object_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_16"/>
+      <geom name="left_object_17" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_17"/>
+      <geom name="left_object_18" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_18"/>
+      <geom name="left_object_19" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_19"/>
+      <geom name="left_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_8"/>
+      <geom name="left_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_9"/>
       <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
       <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_left_thumb_tip" mocap="true">
       <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
@@ -393,14 +431,33 @@
 
   <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="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_10" name="floor_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_11" name="floor_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_12" name="floor_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_13" name="floor_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_14" name="floor_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_15" name="floor_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_16" name="floor_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_17" name="floor_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_18" name="floor_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_19" name="floor_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_9" name="floor_left_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"/>
@@ -418,23 +475,61 @@
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_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="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_10" name="collision_hand_right_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_11" name="collision_hand_right_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_12" name="collision_hand_right_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_13" name="collision_hand_right_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_14" name="collision_hand_right_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_15" name="collision_hand_right_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_16" name="collision_hand_right_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_17" name="collision_hand_right_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_18" name="collision_hand_right_palm_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_19" name="collision_hand_right_palm_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_9" name="collision_hand_right_palm_0_left_object_9" 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="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_10" name="collision_hand_right_thumb_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_11" name="collision_hand_right_thumb_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_12" name="collision_hand_right_thumb_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_13" name="collision_hand_right_thumb_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_14" name="collision_hand_right_thumb_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_15" name="collision_hand_right_thumb_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_16" name="collision_hand_right_thumb_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_17" name="collision_hand_right_thumb_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_18" name="collision_hand_right_thumb_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_19" name="collision_hand_right_thumb_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_8" name="collision_hand_right_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_9" name="collision_hand_right_thumb_2_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
@@ -442,14 +537,33 @@
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_10" name="collision_hand_right_thumb_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_11" name="collision_hand_right_thumb_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_12" name="collision_hand_right_thumb_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_13" name="collision_hand_right_thumb_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_14" name="collision_hand_right_thumb_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_15" name="collision_hand_right_thumb_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_16" name="collision_hand_right_thumb_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_17" name="collision_hand_right_thumb_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_18" name="collision_hand_right_thumb_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_19" name="collision_hand_right_thumb_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_8" name="collision_hand_right_thumb_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_9" name="collision_hand_right_thumb_1_left_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"/>
@@ -466,14 +580,33 @@
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_10" name="collision_hand_right_thumb_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_11" name="collision_hand_right_thumb_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_12" name="collision_hand_right_thumb_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_13" name="collision_hand_right_thumb_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_14" name="collision_hand_right_thumb_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_15" name="collision_hand_right_thumb_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_16" name="collision_hand_right_thumb_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_17" name="collision_hand_right_thumb_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_18" name="collision_hand_right_thumb_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_19" name="collision_hand_right_thumb_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_8" name="collision_hand_right_thumb_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_9" name="collision_hand_right_thumb_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
@@ -481,14 +614,33 @@
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_10" name="collision_hand_right_index_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_11" name="collision_hand_right_index_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_12" name="collision_hand_right_index_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_13" name="collision_hand_right_index_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_14" name="collision_hand_right_index_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_15" name="collision_hand_right_index_1_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_16" name="collision_hand_right_index_1_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_17" name="collision_hand_right_index_1_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_18" name="collision_hand_right_index_1_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_19" name="collision_hand_right_index_1_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_8" name="collision_hand_right_index_1_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_9" name="collision_hand_right_index_1_left_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"/>
     <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"/>
@@ -504,14 +656,33 @@
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_index_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" 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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_10" name="collision_hand_right_index_0_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_11" name="collision_hand_right_index_0_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_12" name="collision_hand_right_index_0_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_13" name="collision_hand_right_index_0_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_14" name="collision_hand_right_index_0_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_15" name="collision_hand_right_index_0_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_16" name="collision_hand_right_index_0_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_17" name="collision_hand_right_index_0_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_18" name="collision_hand_right_index_0_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_19" name="collision_hand_right_index_0_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_8" name="collision_hand_right_index_0_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_9" name="collision_hand_right_index_0_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
@@ -519,14 +690,33 @@
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_10" name="collision_hand_right_middle_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_11" name="collision_hand_right_middle_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_12" name="collision_hand_right_middle_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_13" name="collision_hand_right_middle_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_14" name="collision_hand_right_middle_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_15" name="collision_hand_right_middle_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_16" name="collision_hand_right_middle_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_17" name="collision_hand_right_middle_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_18" name="collision_hand_right_middle_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_19" name="collision_hand_right_middle_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_8" name="collision_hand_right_middle_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_9" name="collision_hand_right_middle_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
@@ -541,14 +731,33 @@
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_10" name="collision_hand_right_middle_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_11" name="collision_hand_right_middle_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_12" name="collision_hand_right_middle_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_13" name="collision_hand_right_middle_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_14" name="collision_hand_right_middle_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_15" name="collision_hand_right_middle_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_16" name="collision_hand_right_middle_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_17" name="collision_hand_right_middle_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_18" name="collision_hand_right_middle_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_19" name="collision_hand_right_middle_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_8" name="collision_hand_right_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_9" name="collision_hand_right_middle_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
@@ -556,14 +765,33 @@
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_10" name="collision_hand_right_ring_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_11" name="collision_hand_right_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_12" name="collision_hand_right_ring_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_13" name="collision_hand_right_ring_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_14" name="collision_hand_right_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_15" name="collision_hand_right_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_16" name="collision_hand_right_ring_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_17" name="collision_hand_right_ring_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_18" name="collision_hand_right_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_19" name="collision_hand_right_ring_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_9" name="collision_hand_right_ring_1_left_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_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
@@ -577,14 +805,33 @@
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_10" name="collision_hand_right_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_11" name="collision_hand_right_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_12" name="collision_hand_right_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_13" name="collision_hand_right_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_14" name="collision_hand_right_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_15" name="collision_hand_right_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_16" name="collision_hand_right_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_17" name="collision_hand_right_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_18" name="collision_hand_right_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_19" name="collision_hand_right_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_8" name="collision_hand_right_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_9" name="collision_hand_right_ring_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
@@ -592,14 +839,33 @@
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" 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_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_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_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_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_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_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_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_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_10" name="collision_hand_right_pinky_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_11" name="collision_hand_right_pinky_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_12" name="collision_hand_right_pinky_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_13" name="collision_hand_right_pinky_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_14" name="collision_hand_right_pinky_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_15" name="collision_hand_right_pinky_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_16" name="collision_hand_right_pinky_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_17" name="collision_hand_right_pinky_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_18" name="collision_hand_right_pinky_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_19" name="collision_hand_right_pinky_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_8" name="collision_hand_right_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_9" name="collision_hand_right_pinky_1_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
@@ -612,145 +878,544 @@
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_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_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_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_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_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_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_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_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_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_10" name="collision_hand_right_pinky_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_11" name="collision_hand_right_pinky_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_12" name="collision_hand_right_pinky_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_13" name="collision_hand_right_pinky_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_14" name="collision_hand_right_pinky_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_15" name="collision_hand_right_pinky_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_16" name="collision_hand_right_pinky_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_17" name="collision_hand_right_pinky_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_18" name="collision_hand_right_pinky_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_19" name="collision_hand_right_pinky_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_8" name="collision_hand_right_pinky_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_9" name="collision_hand_right_pinky_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_10" name="collision_hand_left_palm_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_11" name="collision_hand_left_palm_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_12" name="collision_hand_left_palm_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_13" name="collision_hand_left_palm_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_14" name="collision_hand_left_palm_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_15" name="collision_hand_left_palm_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_16" name="collision_hand_left_palm_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_17" name="collision_hand_left_palm_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_18" name="collision_hand_left_palm_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_19" name="collision_hand_left_palm_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_8" name="collision_hand_left_palm_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_9" name="collision_hand_left_palm_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_10" name="collision_hand_left_thumb_2_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_11" name="collision_hand_left_thumb_2_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_12" name="collision_hand_left_thumb_2_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_13" name="collision_hand_left_thumb_2_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_14" name="collision_hand_left_thumb_2_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_15" name="collision_hand_left_thumb_2_left_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_16" name="collision_hand_left_thumb_2_left_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_17" name="collision_hand_left_thumb_2_left_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_18" name="collision_hand_left_thumb_2_left_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_19" name="collision_hand_left_thumb_2_left_object_19" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_8" name="collision_hand_left_thumb_2_left_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_9" name="collision_hand_left_thumb_2_left_object_9" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_10" name="collision_hand_left_thumb_1_left_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_11" name="collision_hand_left_thumb_1_left_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_12" name="collision_hand_left_thumb_1_left_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_13" name="collision_hand_left_thumb_1_left_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_14" name="collision_hand_left_thumb_1_left_object_14" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_11" name="collision_hand_left_middle_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_12" name="collision_hand_left_middle_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_13" name="collision_hand_left_middle_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_14" name="collision_hand_left_middle_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_15" name="collision_hand_left_middle_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_16" name="collision_hand_left_middle_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_17" name="collision_hand_left_middle_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_18" name="collision_hand_left_middle_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_19" name="collision_hand_left_middle_0_left_object_19" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_9" name="collision_hand_left_middle_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_10" name="collision_hand_left_ring_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_11" name="collision_hand_left_ring_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_12" name="collision_hand_left_ring_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_13" name="collision_hand_left_ring_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_14" name="collision_hand_left_ring_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_15" name="collision_hand_left_ring_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_16" name="collision_hand_left_ring_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_17" name="collision_hand_left_ring_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_18" name="collision_hand_left_ring_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_19" name="collision_hand_left_ring_1_left_object_19" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_8" name="collision_hand_left_ring_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_9" name="collision_hand_left_ring_1_left_object_9" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_10" name="collision_hand_left_ring_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_11" name="collision_hand_left_ring_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_12" name="collision_hand_left_ring_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_13" name="collision_hand_left_ring_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_14" name="collision_hand_left_ring_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_15" name="collision_hand_left_ring_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_16" name="collision_hand_left_ring_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_17" name="collision_hand_left_ring_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_18" name="collision_hand_left_ring_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_19" name="collision_hand_left_ring_0_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
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     <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_8" name="collision_hand_left_ring_0_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_9" name="collision_hand_left_ring_0_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_10" name="collision_hand_left_pinky_1_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_11" name="collision_hand_left_pinky_1_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_12" name="collision_hand_left_pinky_1_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_13" name="collision_hand_left_pinky_1_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_14" name="collision_hand_left_pinky_1_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_15" name="collision_hand_left_pinky_1_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_16" name="collision_hand_left_pinky_1_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_17" name="collision_hand_left_pinky_1_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_18" name="collision_hand_left_pinky_1_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_19" name="collision_hand_left_pinky_1_left_object_19" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_9" name="collision_hand_left_pinky_1_left_object_9" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
     <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_10" name="collision_hand_left_pinky_0_left_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_11" name="collision_hand_left_pinky_0_left_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_12" name="collision_hand_left_pinky_0_left_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_13" name="collision_hand_left_pinky_0_left_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_14" name="collision_hand_left_pinky_0_left_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_15" name="collision_hand_left_pinky_0_left_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_16" name="collision_hand_left_pinky_0_left_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_17" name="collision_hand_left_pinky_0_left_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_18" name="collision_hand_left_pinky_0_left_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_19" name="collision_hand_left_pinky_0_left_object_19" friction="1 1 0.1 0 0"/>
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+    <pair geom1="right_object_1" geom2="left_object_12" name="right_object_1_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_1" geom2="left_object_15" name="right_object_1_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_16" name="right_object_1_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_17" name="right_object_1_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_9" name="right_object_1_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_10" name="right_object_2_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_11" name="right_object_2_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_12" name="right_object_2_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_15" name="right_object_2_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_9" name="right_object_2_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_9" name="right_object_3_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_10" name="right_object_7_left_object_10" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_11" name="right_object_7_left_object_11" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_12" name="right_object_7_left_object_12" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_13" name="right_object_7_left_object_13" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_14" name="right_object_7_left_object_14" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_15" name="right_object_7_left_object_15" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_16" name="right_object_7_left_object_16" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_17" name="right_object_7_left_object_17" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_18" name="right_object_7_left_object_18" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_19" name="right_object_7_left_object_19" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_9" name="right_object_7_left_object_9" friction="0.01 0.01 0.0001 0 0"/>
   </contact>
 
   <equality>